Control device

Abstract

A control device capable of suppressing a decrease in work efficiency is provided. [Solution] The control device includes a control unit that controls the operation of multiple moving bodies that can move by unmanned operation, and an acquisition unit that acquires characteristic information of a worker performing work between a target moving body among the multiple moving bodies and a continuous moving body that moves in front of or behind the target moving body, and the control unit uses the acquired characteristic information to control the target moving body and the continuous moving body so that the distance between the target moving body and the continuous moving body becomes a target distance.

Description

[Technical Field]

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

[0002] Patent Document 1 describes a method for remotely operating a vehicle traveling within a manufacturing system. [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] Manufacturing systems often include manufacturing and inspection processes in which work is carried out between multiple moving vehicles. The physical size, skill level, and other characteristics of the workers involved vary. For this reason, depending on the worker, the distance between vehicles may not be suitable for the work, resulting in reduced work efficiency. This issue applies not only to vehicles but also to any other mobile object. [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 device is provided. The control device includes a control unit that controls the operation of a plurality of moving bodies that can move in an unmanned manner, and an acquisition unit that acquires characteristic information of a worker performing work between a target moving body of the plurality of moving bodies and a continuous moving body that moves in front of or behind the target moving body. The control unit uses the acquired characteristic information to control the target moving body and the continuous moving body so that the distance between the target moving body and the continuous moving body becomes a target distance. According to this aspect, the characteristic information is, for example, information about the body size of the worker. If the body size is larger than a standard, setting the target distance longer than the standard increases the space in which the worker works, which can reduce work efficiency. (2) In the control device of the above aspect, the characteristic information may be information about the physical characteristics of the worker, the acquisition unit may acquire a body size indicated by the physical characteristics using an image of the worker, and the control device may include a setting unit that sets the target interval using a predetermined correspondence between the body size and the target interval. According to this aspect, even when information indicating the correspondence between the worker and the physical characteristics is not prepared, the physical characteristics can be acquired using the image. Furthermore, the setting unit can efficiently set the target interval using the predetermined correspondence. (3) In the control device of the above aspect, the characteristic information may be information related to a worker's manufacturing proficiency, and the control device may include a setting unit that sets the target interval using a predetermined correspondence between the proficiency and the target interval. According to this aspect, the characteristic information is the worker's manufacturing proficiency, and by setting the target interval longer than the standard when the worker's proficiency is low, the space in which the worker works becomes larger, which can reduce work efficiency. Furthermore, the setting unit can efficiently set the target interval using the predetermined correspondence. (4) In the control device of the above aspect, the acquisition unit may acquire a worker identifier previously assigned to the worker, and acquire the characteristic information corresponding to the acquired worker identifier by referring to a database in which the worker identifier is associated with the proficiency level. The control device may further include an update unit that counts the number of times the worker has performed the task and, if it determines that the number of times is greater than a predetermined reference number, updates the database so that the proficiency level associated with the worker increases. It is expected that the greater the number of times a worker performs a task, the higher the worker's proficiency level. Therefore, according to this aspect, the proficiency level can be updated automatically without manual updating of the proficiency level. (5) In the control device of the above aspect, the worker may wear clothes whose appearance differs depending on the proficiency level classification, and the acquisition unit may acquire the characteristic information by identifying the classification of the worker using an image of the worker's clothes. According to this aspect, the acquisition unit can acquire the characteristic information using an image of the worker. In addition to the control device described above, the present disclosure can be realized in the form of a non-transitory tangible recording medium on which a system, a control method, or a control program is recorded in a computer-readable manner. [Brief explanation of the drawings]

[0007] [Figure 1] FIG. 1 is a conceptual diagram showing a system configuration according to a first embodiment. [Figure 2] FIG. 1 is a block diagram showing a system configuration. [Figure 3] 4 is a flowchart showing a processing procedure for vehicle travel control in the first embodiment. [Figure 4] FIG. 2 is a plan view illustrating the layout of a manufacturing line. [Figure 5] 10 is a flowchart showing a processing procedure for target interval setting processing. [Figure 6] FIG. 10 is a diagram illustrating an interval setting map. [Figure 7] FIG. 10 is a block diagram showing the configuration of a server according to a second embodiment. [Figure 8] FIG. 2 is a diagram illustrating a feature information database. [Figure 9] FIG. 10 is a diagram illustrating a gap setting map according to the second embodiment. [Figure 10] FIG. 10 is an explanatory diagram showing a schematic configuration of a system according to a fourth embodiment. [Figure 11] 10 is a flowchart showing a processing procedure for vehicle travel control in a fourth embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0008] A. First embodiment: 1 is a conceptual diagram showing the configuration of a system 50 according to the first embodiment. The 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, or construction vehicle. Vehicles include electric vehicles (BEVs: Battery Electric Vehicles), gasoline-powered vehicles, hybrid vehicles, and fuel cell vehicles. When a mobile body is something other than a vehicle, the terms "vehicle" and "car" in this disclosure may be appropriately replaced with "mobile body," and the term "traveling" may be appropriately replaced with "moving."

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

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

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

[0013] In this embodiment, at a first location PL1, a process of assembling parts into a vehicle 100 in the form of a platform is carried out on a production line POL, which will be described later. After assembly is complete, the vehicle 100 is moved to a second location PL2 where the next process is carried out. The vehicle 100 in the form of a platform is equipped with at least a vehicle control device 110, an actuator group 120, and a communication device 130 in order to perform the three functions of "running," "turning," and "stopping" through unmanned driving.

[0014] 2 is a 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.

[0015] 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.

[0016] 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.

[0017] The server 200 is configured by a computer including a processor 201, a memory 202, an input / output interface 203, and an internal bus 204. The processor 201, the memory 202, and the input / output interface 203 are connected via the internal bus 204 to enable bidirectional communication. A communication device 205 is connected to the input / output interface 203 for communicating with various devices external to the server 200. The communication device 205 can communicate with the vehicle 100 via wireless communication, and can communicate with each external sensor 300 via wired communication or wireless communication. The processor 201 executes a program PG2 stored in the memory 202 to realize various functions, including the function of the remote control unit 210.

[0018] The remote control unit 210 controls the operation of multiple vehicles 100 that are capable of moving by unmanned driving. Specifically, the remote control unit 210 acquires detection results from sensors, generates a driving control signal for controlling the actuator group 120 of the vehicle 100 using the detection results, and transmits the driving control signal to the vehicle 100, thereby causing the vehicle 100 to drive by remote control. The remote control unit 210 may generate and output not only the driving control signal but also control signals for controlling actuators that operate various accessories provided in the vehicle 100 and various equipment such as wipers, power windows, and lamps. In other words, the remote control unit 210 may operate these various equipment and accessories by remote control.

[0019] In addition to the above configuration, the processor 201 also includes an acquisition unit 211 and a setting unit 212. In addition to the above configuration, the memory 202 stores a program PG3 and an interval setting map 223. The acquisition unit 211 and the setting unit 212 are functional units implemented by executing the program PG3. The acquisition unit 211 acquires characteristic information of a worker WO performing work on a production line POL (described later). The setting unit 212 sets a target interval TI (described later) using the acquired characteristic information. The memory 202 stores target setting information 221 and interval control information 222. The target setting information 221 is information in which an area identifier (described later) is associated with a target interval TI. The interval control information 222 is information in which an area identifier is associated with a target interval TI indicating a rear interval BI (described later). The interval setting map 223 is a map indicating the correspondence between the body size of the worker WO and the target interval TI.

[0020] The external sensor 300 is a sensor located outside the vehicle 100. In this embodiment, the external sensor 300 is a sensor that captures the vehicle 100 from outside the vehicle 100. The external sensor 300 is equipped with a communication device (not shown) and can communicate with other devices such as the server 200 via wired communication or wireless communication.

[0021] Specifically, the external sensor 300 is configured by a camera. The camera serving as the external sensor 300 captures an image of the vehicle 100 and outputs the captured image as a detection result.

[0022] 3 is a flowchart showing the processing procedure for driving control of the vehicle 100 in the first embodiment. In the processing procedure in FIG. 3, the processor 201 of the server 200 functions as the remote control unit 210 by executing the program PG2. Also, the processor 111 of the vehicle 100 functions as the vehicle control unit 115 by executing the program PG1.

[0023] 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.

[0024] In detail, in step S1, the processor 201, for example, detects the outer shape of the vehicle 100 from the captured image, calculates the coordinates of the positioning point of the vehicle 100 in the coordinate system of the captured image, i.e., the local coordinate system, and converts the calculated coordinates into coordinates in the global coordinate system GC, thereby acquiring the position of the vehicle 100. The outer shape of the vehicle 100 included in the captured image can be detected, for example, by inputting the captured image into a detection model DM that utilizes artificial intelligence. The detection model DM is prepared, for example, inside or outside the system 50, and is pre-stored in the memory 202 of the server 200. The detection model DM may be, for example, a trained machine learning model that has been trained to achieve either semantic segmentation or instance segmentation. As this machine learning model, for example, a convolutional neural network (hereinafter, CNN) trained by supervised learning using a training dataset may be used. The training dataset may, for example, include a plurality of training images including the vehicle 100 and labels indicating whether each region in the training image represents the vehicle 100 or a region other than the vehicle 100. During CNN training, it is preferable to update the parameters of the CNN by backpropagation (error backpropagation method) so as to reduce the error between the output result of the detection model DM and the label. In addition, the processor 201 can acquire the orientation of the vehicle 100 by estimating it based on the orientation of the movement vector of the vehicle 100 calculated from the positional change of the feature points of the vehicle 100 between frames of the captured image using, for example, an optical flow method.

[0025] 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.

[0026] 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.

[0027] 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.

[0028] In step S5, the processor 111 of the vehicle 100 receives the driving control signal transmitted from the server 200. In step S6, the processor 111 of the vehicle 100 controls the actuator group 120 using the received driving control signal, thereby causing the vehicle 100 to drive at the acceleration and steering angle indicated in the driving control signal. The processor 111 repeats receiving the driving control signal and controlling the actuator group 120 at a predetermined cycle. According to the system 50 of this embodiment, the vehicle 100 can be driven by remote control, and the vehicle 100 can be moved without using transportation equipment such as a crane or conveyor.

[0029] FIG. 4 is a plan view illustrating the layout of the production line POL. The production line POL comprises a plurality of work areas PA lined up along a track TR. Each work area PA is assigned a unique area identifier in advance. Each work area PA comprises a communication device 301. Details of the communication device 301 will be described in the second embodiment. A plurality of vehicles 100 travel along the production line POL. The arrows in FIG. 4 indicate the travel direction of the vehicles 100.

[0030] The work processes carried out in the work area PA include work processes carried out by a work robot (not shown) and work processes carried out by a worker WO.

[0031] Work performed by a worker WO includes vehicle-to-vehicle work, in which the worker WO enters between two vehicles 100 traveling consecutively along a production line POL. Specifically, when assembling parts to the front or rear of a vehicle 100, the worker WO enters between the two vehicles 100 to perform the assembly work. The body sizes of the workers WO vary. Therefore, a predetermined standard interval may make it difficult for a larger worker to perform the work. Specifically, for example, the need to be careful not to let parts come into contact with the vehicle 100 may reduce work efficiency. Here, in this disclosure, the "interval" between the vehicles 100 refers to the interval between two vehicles 100 traveling consecutively. In this embodiment, when the body size of the worker WO is larger than a predetermined standard size, control is performed to make the interval between the vehicles 100 longer than the standard interval. This suppresses a decrease in work efficiency.

[0032] In this embodiment, the remote control unit 210 controls the distance between a target vehicle TG located in a target work area PA and a following vehicle BV traveling behind the target vehicle TG so that the distance becomes a target distance TI. The distance between the target vehicle TG and the following vehicle BV of the target vehicle TG is called a rear distance BI. In contrast, the distance between the target vehicle TG and a leading vehicle FV traveling in front of the target vehicle TG is called a front distance FI.

[0033] 4 illustrates a case in which a worker WO performs inter-vehicle work between a target vehicle TG and a rear vehicle BV traveling behind the target vehicle TG in an inter-vehicle work area TPA where inter-vehicle work is performed. The worker WO works to attach a part to the rear of the target vehicle TG.

[0034] The area identifier assigned to each work area PA is associated in advance with the content of the process. The content of the process may, for example, be whether or not the work is to be performed between vehicles, and whether the work is to be performed behind or in front of the target vehicle TG. Furthermore, a reference interval is associated in advance with the area identifier. The reference interval reflects the content of the process. For example, the reference interval varies depending on the size of the parts to be installed, the size of the tools, and the number of workers WO working together.

[0035] FIG. 5 is a flowchart showing the processing steps of the target interval setting process. In this embodiment, the server 200 performs the target interval setting process before production using the production line POL begins. Typically, the server 200 performs the target interval setting process in the morning of the day the production line POL operates. The target interval setting process starts after the worker WO has entered the work area PA. In this embodiment, the target interval setting process starts at a predetermined start time. Note that, instead of the time, the start condition for the target interval setting process may be, for example, detection of the worker WO's entry by image analysis of an image captured by the external sensor 300. The server 200 performs the target interval setting process for each work area PA, targeting all work areas PA where vehicle-to-vehicle work is performed on the production line POL. In this embodiment, a case in which the worker WO performs vehicle-to-vehicle work behind the target vehicle TG shown in FIG. 4 is described as an example.

[0036] In step S11 of FIG. 5, the acquisition unit 211 acquires characteristic information about the worker WO working in the work area PA where vehicle-to-vehicle work is performed. In this embodiment, the acquisition unit 211 acquires the characteristic information by image analysis using a captured image captured by the external sensor 300 and including the worker WO. In this embodiment, the characteristic information is information about the physical characteristics of the worker WO. In this embodiment, the information about the physical characteristics is body size. The acquisition unit 211 detects the outer shape of the worker WO included in the captured image using a method similar to the method used to detect the outer shape of the vehicle 100. Then, the acquisition unit 211 determines a body size rank from "A," "B," or "C," which are predetermined ranks, based on the detected outer shape size. The ranks are "A," "B," and "C," in order of increasing body size. Rank B is the standard size. The body size of the worker WO may change over time. By acquiring the characteristic information using the captured image, the acquisition unit 211 can acquire the latest body size of the worker WO.

[0037] In step S12, the setting unit 212 sets the target interval TI using the acquired characteristic information. Fig. 6 is a diagram for explaining the interval setting map 223 used in step S12.

[0038] 6, interval setting map 223 is a map in which body size ranks are associated with ratios for determining target interval TI. Setting unit 212 sets target interval TI to a value obtained by multiplying a standard interval previously associated with an area identifier by the ratio in interval setting map 223. For example, if the body size is rank A, setting unit 212 to a value obtained by multiplying the standard interval set for the work area by the ratio "0.8" is made. Setting unit 212 updates the value of target interval TI associated with the corresponding area identifier in target setting information 221 to the latest set value.

[0039] 6, in the interval setting map 223, the ratio is set to increase in the order of body rank A, B, and C. As a result, if the body size of the worker WO is larger than the standard, the target interval TI is set to be longer than the standard interval. As a result, if the body size of the worker WO is larger than the standard, the target interval TI can be set so that the area where inter-vehicle work can be performed is wider.

[0040] In the case of a work area PA where inter-vehicle work is performed between the target vehicle TG and a preceding vehicle traveling ahead of the target vehicle TG, a target interval TI is similarly set for the target work area PA.

[0041] After performing step S12, the setting unit 212 ends this processing routine. After finishing setting the target intervals TI for all work areas PA where inter-vehicle work will be performed, the setting unit 212 uses the target setting information 221 to create interval control information 222. The interval control information 222 is information in which an area identifier is associated with a target rear interval BI. Specifically, the setting unit 212 changes the associated area identifier for the target interval TI for the work area PA where inter-vehicle work will be performed between the target vehicle TG and the leading vehicle FV so that the target interval TI indicates the rear interval BI.

[0042] In this embodiment, the first location PL1 including the production line POL is remotely controlled using the created interval control information 222. Specifically, an adjustment position POA shown in FIG. 4 is determined in advance for each work area PA. More specifically, the adjustment position POA is associated with position information indicating a line that crosses the track TR. When it is determined that the vehicle 100 has passed the adjustment position POA, the remote control unit 210 remotely controls the vehicle 100 so as to satisfy the target interval TI associated with the work area PA into which the vehicle 100 will next enter.

[0043] Specifically, when the remote control unit 210 determines, based on the vehicle position information acquired in step S1 of FIG. 3, that the target vehicle 100 has passed the adjustment position POA, the remote control unit 210 determines, in step S2, the next target position so as to achieve the target interval TI associated with the next work area PA to be entered. Specifically, the remote control unit 210 first estimates the next target position of the vehicle FV ahead of the target vehicle 100 using the current position and current speed of the vehicle FV ahead of the target vehicle 100. Next, the remote control unit 210 determines the next target position of the target vehicle 100 so that the interval from the next target position of the vehicle FV ahead is the target interval TI. In step S3, the remote control unit 210 generates a driving control signal for driving the target vehicle 100 toward the determined target position. The vehicle 100 that has received the driving control signal drives in accordance with the driving control signal. As a result, each vehicle 100 is remotely controlled so as to achieve the target interval TI.

[0044] In this embodiment, when the target distance TI is shorter than the current distance FI of the vehicle 100 to be controlled, the remote control unit 210 generates a driving control signal to accelerate the vehicle 100. Also, in this embodiment, when the target distance TI is longer than the current distance FI of the vehicle 100 to be controlled, the remote control unit 210 generates a driving control signal to decelerate the vehicle 100.

[0045] In another embodiment, the remote control unit 210 may generate a driving control signal that includes a period during which the vehicle 100 stops when the target distance TI is longer than the current ahead distance FI of the vehicle 100 to be controlled. In another embodiment, in addition to the driving control signal for the vehicle 100 to be controlled, the driving control signal for the vehicle FV ahead of the vehicle 100 to be controlled may be adjusted.

[0046] In this embodiment, the adjustment position POA is set to a position where work in the work area PA is expected to end. Also, in this embodiment, when the acceleration of the vehicle 100 changes, a travel control signal is generated so that the speed changes gradually. This prevents a decrease in the work efficiency of the worker WO.

[0047] The server 200 is also referred to as a remote control device. The target vehicle TG is also referred to as a target moving body. The vehicles BV behind the target vehicle TG and the vehicles FV ahead of the target vehicle TG are also referred to as continuously moving bodies.

[0048] According to the first embodiment described above, the server 200 includes a remote control unit 210, an acquisition unit 211, and a setting unit 212. The acquisition unit 211 acquires characteristic information of the worker WO working in the work area PA where the vehicle-to-vehicle distance process is performed. The setting unit 212 sets the target interval TI using the acquired characteristic information. The remote control unit 210 controls the vehicle 100 so that the target interval TI is achieved. Because the target interval TI reflects the body size of the worker WO, a decrease in work efficiency during vehicle-to-vehicle distance work is suppressed.

[0049] Furthermore, if the body size of the worker WO is smaller than the standard, the target interval TI is set shorter than the standard interval. This makes it possible to adjust the overall interval of the production line POL when there is a work area PA in which the target interval TI is set longer than the standard interval. Specifically, when the target interval TI is set longer than the standard interval, the distance between the leading vehicle 100 traveling on the production line POL and the trailing vehicle 100 becomes longer. Therefore, when the vehicle speed is approximately constant, the overall process time from the start to the end of production on the production line POL for one vehicle 100 becomes longer. Here, when a work area PA in which the target interval TI is set shorter than the standard interval is provided, it is possible to prevent the overall process time from becoming excessively long.

[0050] Furthermore, the acquisition unit 211 acquires information about the physical characteristics of the worker WO as characteristic information using an image captured of the worker WO. Then, the acquisition unit 211 acquires the body size indicated by the physical characteristics. The setting unit 212 sets the target interval TI using an interval setting map 223 that indicates a predetermined correspondence between the body size indicated by the physical characteristics and the target interval TI. The interval setting map 223 is set so that the target interval TI is longer than the reference interval when the body size of the worker WO is larger than the reference interval. Therefore, the setting unit 212 can efficiently set a target interval TI appropriate for the body size of the worker WO using the interval setting map 223.

[0051] B. Second embodiment: In the first embodiment, the acquisition unit 211 acquires the body size, which is characteristic information of the worker WO, using a captured image of the worker WO. In this embodiment, the acquisition unit 211 acquires the characteristic information using an IC tag previously attached to the worker WO. Furthermore, the acquisition unit 211 acquires information related to the manufacturing proficiency level as characteristic information in addition to physical characteristics. Furthermore, the server 200 of this embodiment includes an update unit 213, which will be described later. The same components and processing steps as those of the above embodiment are denoted by the same reference numerals, and detailed explanations thereof will be omitted as appropriate.

[0052] 7 is a block diagram showing the configuration of the server 200 of this embodiment. The processor 201 differs from the first embodiment in that it includes an update unit 213. The update unit 213 is a functional unit that is realized when the processor 201 executes the program PG3.

[0053] The memory 202 includes a feature information database DB and an operation number counter 224 in addition to the configuration of the first embodiment.

[0054] FIG. 8 is a diagram illustrating the characteristic information database DB. As shown in FIG. 7, the characteristic information database DB is a database in which the following items are grouped: "Worker Identifier," "Body," and "Proficiency." The "Worker Identifier" is an identifier uniquely assigned to each worker WO in advance. "Body," as in the first embodiment, is an item indicating the body size of the worker identifier. As in the first embodiment, the value of the "Body" item is set to one of the ranks "A," "B," or "C." "Proficiency" is an item indicating information regarding the worker WO's proficiency in manufacturing. In this embodiment, the value of the "Proficiency" item is set to one of the ranks "A," "B," or "C." The proficiency ranks are "A," "B," and "C," in order of increasing proficiency. Rank A indicates a beginner. Rank C indicates an expert. The proficiency is associated with the area identifier assigned to the work area PA. In other words, a proficiency is set for each work process performed in the work area PA.

[0055] Proficiency specifically refers to the degree of skill in a task such as tightening a bolt. Typically, the faster and more accurate the task and the lower the rate of defects, the higher the proficiency is set. Proficiency is also typically set based on the evaluation of the worker WO by, for example, the manager of the production line POL. Note that the proficiency may also reflect the worker WO's years of service.

[0056] Each worker WO wears an IC tag that stores his or her own worker identifier. Specifically, an IC tag is a communicable recording medium that allows information to be exchanged via wireless communication. A communication device 301 provided in the work area PA is a device that can communicate with the IC tag worn by the worker WO and can also communicate with the server 200. Before entering the work area PA and performing work, the worker WO brings his or her own IC tag close to the communication device 301. When the communication device 301 receives the worker identifier stored in the approached IC tag, it transmits the received worker identifier and the area identifier of the work area PA in which the worker WO is located to the server 200.

[0057] When the update unit 213 receives the worker identifier and the area identifier from the communication device 301, it increments the work count counter 224 by one. The work count counter 224 is a variable for counting the number of times the worker WO has performed work in the work area PA. The work count counter is associated with the worker identifier and the area identifier. That is, the number of times the work has been performed is counted for each work area PA. In this embodiment, the worker WO brings the IC tag close to the communication device 301 once a day. Therefore, in this embodiment, the number of times the work has been performed indicates the number of days the worker WO has performed work.

[0058] The flowchart of the target interval setting process of this embodiment is the same as that of the first embodiment. Therefore, the target interval setting process of this embodiment will be described with reference to FIG. 5. In step S11 of FIG. 5, the acquisition unit 211 refers to the feature information database DB to acquire the body size rank of the worker identifier transmitted from the communication device 301 and the proficiency rank of the corresponding area identifier. The acquisition unit 211 acquires feature information using the worker identifier acquired from the IC tag worn by the worker WO and the feature information database DB. This allows the acquisition unit 211 to accurately acquire feature information.

[0059] In step S12, the setting unit 212 sets the target interval TI using the acquired characteristic information. In this embodiment, the characteristic information is body size and proficiency. FIG. 9 is a diagram illustrating an interval setting map 223 of this embodiment. The interval setting map 223 of this embodiment shows a predetermined correspondence relationship between body size ranks, proficiency ranks, and the target interval TI. As shown in FIG. 9, the interval setting map 223 of this embodiment has a "ratio" value set according to the "proficiency" rank in addition to the "body" rank. The method of setting the target interval TI by the setting unit 212 is the same as in the first embodiment. For example, if the acquired body rank is "B" and the proficiency rank is "A," the setting unit 212 sets the target interval TI to a value obtained by multiplying the standard interval set for the work area by the ratio "1.1."

[0060] As shown in FIG. 9, when the "physical" rank is the same, the ratio when the "proficiency" rank is "A" is set to be larger than the ratio when the "proficiency" rank is "B". As a result, when the "physical" rank is the same, the target interval TI when the worker WO's proficiency is low is set to be longer than the target interval TI when the proficiency is high. Therefore, when the worker WO is a beginner, the target interval TI can be set so that the area where inter-vehicle work is performed is wider. When the worker WO is a beginner, because he or she is unfamiliar with the work, there is a need to be careful, for example, to prevent the tool from coming into contact with the vehicle 100, which can reduce work efficiency. Therefore, when the worker WO is a beginner, the area where inter-vehicle work is performed can be set wider, thereby preventing a reduction in work efficiency.

[0061] The processing after setting the target interval TI is the same as in the first embodiment, and therefore a description thereof will be omitted.

[0062] When the update unit 213 determines that the value of the task count counter 224 has exceeded a predetermined reference count, it updates the corresponding proficiency rank in the characteristic information database DB to a higher rank. The proficiency of the worker WO is expected to increase as the number of tasks increases. Therefore, by having the update unit 213 update the characteristic information database DB according to the number of tasks, the characteristic information database DB can be updated automatically without manual update operations.

[0063] According to the second embodiment described above, the setting unit 212 sets the target interval TI using the interval setting map 223, which indicates a predetermined correspondence between proficiency ranks and target intervals TI. The interval setting map 223 specifies that, when the "physical" rank is the same, the target interval TI for a low proficiency level is set to be longer than the target interval TI for a high proficiency level. Therefore, when the worker WO is a beginner, a wider area is set for the vehicle-to-vehicle work, thereby preventing a decrease in work efficiency.

[0064] Furthermore, the target interval TI for an experienced worker WO is set shorter than the target interval TI for a novice worker WO. This makes it possible to adjust the overall interval of the production line POL when there is a work area PA in which the target interval TI is set longer than the standard interval. Therefore, it is possible to prevent the overall process time for one vehicle 100, from the start to the end of production on the production line POL, from becoming excessively long. Furthermore, by setting the target interval TI shorter when the worker WO is an experienced worker, it is possible to reduce the amount of movement of the worker WO and improve efficiency.

[0065] Furthermore, the setting unit 212 sets the target interval TI using an interval setting map 223 that indicates a predetermined correspondence between the proficiency level and the target interval TI. In the interval setting map 223, when the "physical" rank is the same, the target interval TI when the proficiency level is low is set to be longer than the target interval TI when the proficiency level is high. Therefore, the setting unit 212 can efficiently set a target interval TI appropriate for the proficiency level of the worker WO using the interval setting map 223.

[0066] The server 200 also includes an update unit 213. When it is determined that the number of times that the worker WO has performed work in the work area PA has exceeded a predetermined reference number, the update unit 213 updates the characteristic information database DB so that the proficiency level associated with the worker WO becomes higher. This allows the characteristic information database DB to be automatically updated.

[0067] C. Third embodiment: In the second embodiment, the acquisition unit 211 acquires characteristic information about the worker WO by acquiring a worker identifier stored in an IC tag worn by the worker WO. In this embodiment, the worker WO wears clothes with different appearances according to the classification based on the worker's level of proficiency. Specifically, if the worker WO is a beginner, the worker WO wears a hat of a predetermined color. Therefore, in this embodiment, the acquisition unit 211 determines whether the worker WO is a beginner by image analysis using an image captured by the external sensor 300 that includes the worker WO. The same components and processing steps as those in the second embodiment are denoted by the same reference numerals, and detailed description thereof will be omitted as appropriate. In this embodiment, only differences from the second embodiment will be described.

[0068] In the characteristic information database DB of this embodiment, worker identifiers are associated with proficiency levels. Furthermore, in the characteristic information database DB of this embodiment, there are two proficiency ranks: rank A, which indicates a beginner, and rank B, which indicates a non-beginner. The acquisition unit 211 acquires characteristic information by identifying the classification of the worker WO using a captured image of the worker WO's clothing. Specifically, the acquisition unit 211 determines that the worker WO is a beginner when it determines that the worker WO is wearing a hat of a predetermined color through image analysis using a captured image that includes the worker WO. On the other hand, the acquisition unit 211 determines that the worker WO is not a beginner when it determines that the worker WO is not wearing a hat of a predetermined color.

[0069] According to the third embodiment described above, the acquisition unit 211 acquires the proficiency level, which is characteristic information, using the clothing worn by the worker WO. Therefore, the acquisition unit 211 can acquire the characteristic information more easily than when identifying the worker identifier of the worker WO, that is, the individual.

[0070] D. Fourth embodiment: 10 is an explanatory diagram showing a schematic configuration of a system 50v in the fourth embodiment. In this embodiment, the system 50v differs from the first embodiment in that it does not include a server 200. Furthermore, the vehicle 100v in this embodiment can travel by autonomous control of the vehicle 100v. The other configurations are the same as those in the first embodiment unless otherwise specified.

[0071] In this embodiment, the processor 111v of the vehicle control device 110v functions as a vehicle control unit 115v by executing a program PG1 stored in a memory 112v. The vehicle control unit 115v acquires output results from sensors, generates a driving control signal using the output results, and outputs the generated driving control signal to operate the actuator group 120, thereby enabling the vehicle 100v to drive by autonomous control. In this embodiment, in addition to the program PG1, a detection model DM and a reference route RR are pre-stored in the memory 112v.

[0072] In this embodiment, the processor 111v includes an acquisition unit 116 and a setting unit 117 in addition to the above configuration. The memory 112v stores a program PG3, target interval field information 121, interval control information 122, and an interval setting map 123 in addition to the above configuration. The acquisition unit 116 and the setting unit 117 are functional units that are realized when the processor 111v executes the program PG3. The acquisition unit 116 and the setting unit 117 function in the same manner as the acquisition unit 211 and the setting unit 212 in the first embodiment, respectively. This allows the vehicle control device 110v to set the target interval TI using a captured image transmitted from the external sensor 300.

[0073] 11 is a flowchart showing a processing procedure for driving control of the vehicle 100v in the fourth embodiment. In the processing procedure in FIG. 11, the processor 111v of the vehicle 100v functions as a vehicle control unit 115v by executing a program PG1.

[0074] In step S901, the processor 111v of the vehicle control device 110v acquires vehicle position information using the detection results output from the camera, which is the external sensor 300. In step S902, the processor 111v determines a target position to which the vehicle 100v should next head. In step S903, the processor 111v generates a driving control signal for driving the vehicle 100v toward the determined target position. In step S904, the processor 111v controls the actuator group 120 using the generated driving control signal, thereby causing the vehicle 100v to drive in accordance with the parameters represented in the driving control signal. The processor 111v repeats the acquisition of vehicle position information, determination of the target position, generation of the driving control signal, and control of the actuators at a predetermined cycle. According to the system 50v in this embodiment, the vehicle 100v can be driven by autonomous control of the vehicle 100v without remote control of the vehicle 100v by the server 200.

[0075] As in the first embodiment, at the first location PL1, the vehicle control unit 115v generates a travel control signal to satisfy the target interval TI, thereby suppressing a decrease in the efficiency of inter-vehicle work.

[0076] In another embodiment, the system 50v may include the vehicle 100 and the server 200, and the server 200 may include the acquisition unit 211 and the setting unit 212 similar to those in the first embodiment. That is, the server 200, rather than the vehicle 100v, may include the acquisition unit 211 and the setting unit 212. In this embodiment, the setting unit 212 of the server 200 creates interval control information 222 for causing the vehicle 100 to travel in accordance with the target interval TI. Then, the setting unit 212 transmits the interval control information 222 to the vehicle 100v. The vehicle 100v generates a travel control signal in accordance with the received interval control information 222.

[0077] E. Other embodiments (other embodiments relating to setting target intervals): (E1) In the second embodiment described above, the acquisition unit 211 receives and acquires the worker identifier transmitted from the communication device 301. In another embodiment, the acquisition unit 211 may acquire the worker identifier by facial recognition using a captured image of the worker WO. Specifically, the memory 202 pre-stores the worker identifier and a facial image of the worker WO. The acquisition unit 211 then acquires the worker identifier of the worker WO using the stored facial image and the captured image. This allows the acquisition unit 211 to acquire the worker identifier even when the work area PA is not equipped with the communication device 301.

[0078] (E2) In the second embodiment, the acquisition unit 211 acquires physical characteristics and proficiency as characteristic information. In another embodiment, the acquisition unit 211 may acquire information on the worker WO's physical condition as characteristic information. Specifically, the work area PA is equipped with an information terminal capable of communicating with the server 200. When the worker WO enters the work area PA, the worker WO uses the information terminal to input information on the worker's physical condition for that day. Specifically, if the worker WO is in good physical condition, the worker WO inputs a rank of "A" in the physical condition input field, and if the worker WO is in bad physical condition, the worker WO inputs a rank of "B" in the input field. For example, if the worker WO has a pain in his / her hand, the worker WO inputs a rank of "B" in the input field. In the interval setting map 223, the "ratio" when the rank indicating the physical condition information is "B" is set to be larger than the "ratio" when the rank is "A". The acquisition unit 211 sets the target interval TI using the physical condition information transmitted from the information terminal. As a result, the target interval TI when the worker WO is in bad physical condition is set to be longer than the target interval TI when the worker WO is in good physical condition. Therefore, even if the worker WO has pain in his / her hands and is restricted in operating tools, the area where he / she can work between vehicles is set wide, so that the decrease in work efficiency can be suppressed.

[0079] (E3) The interval setting map 223 in the second embodiment includes a "body" item. In another embodiment, the interval setting map 223 may include only a "proficiency" item. By including at least the "proficiency" item in the interval setting map 223, at least the level of proficiency can be reflected in the target interval TI.

[0080] (E4) In the first embodiment, the acquisition unit 211 sets a body size rank based on the external size detected from the captured image. The information used to determine the body size rank is not limited to the external size in the captured image. For example, the acquisition unit 211 may set a body size rank using at least one of the height and waist circumference of the worker WO in the captured image, or the size of a part of the body, such as the arm length.

[0081] (E5) In the first embodiment, the interval setting map 223 is used to set the target interval TI. In another embodiment, instead of the interval setting map 223, a mathematical expression indicating the correspondence between the body rank and the target interval TI may be used.

[0082] (E6) In the first embodiment described above, the remote control unit 210 controls the distance between the vehicle 100 to be controlled and the vehicle FV ahead of the vehicle 100 to be equal to the target distance TI. In another embodiment, the remote control unit 210 may control the distance between the vehicle 100 to be controlled and the vehicle BV behind the vehicle 100 to be equal to the target distance TI. Also, in the first embodiment described above, the remote control unit 210 adjusts the driving control signal of the vehicle 100 to be controlled. In another embodiment, the remote control unit 210 may adjust the driving control signal of the vehicle FV ahead of the vehicle 100 to be controlled, instead of the driving control signal of the vehicle 100 to be controlled.

[0083] F. Other embodiments (other embodiments relating to self-propelled transport): (F1) 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.

[0084] (F2) 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.

[0085] (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.

[0086] (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.

[0087] (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.

[0088] (F3) In the above fourth embodiment, the vehicle 100v may be equipped with an internal sensor, and the detection result 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 result of the internal sensor and, when generating a route, reflect the detection result of the internal sensor in the route. The vehicle 100v may acquire the detection result of the internal sensor and, when generating a driving control signal, reflect the detection result of the internal sensor in the driving control signal.

[0089] (F4) In the fourth embodiment, the vehicle 100v acquires vehicle position information using the detection results of the external sensor 300. Alternatively, the vehicle 100v may be equipped with an internal sensor. The vehicle 100v may acquire vehicle position information using the detection results of the internal sensor, determine a target location to which the vehicle 100v should next travel, generate a route from the current location of the vehicle 100v represented in the acquired vehicle position information to the target location, generate a driving control signal for traveling along the generated route, and control the actuator group 120 using the generated driving control signal. In this case, the vehicle 100v can travel without using any of the detection results of the external sensor 300. The vehicle 100v may acquire a target arrival time or traffic congestion information from outside the vehicle 100v and reflect the target arrival time or traffic congestion information in at least one of the route and the driving control signal. Furthermore, all of the functional configuration of the system 50v may be provided within the vehicle 100v. In other words, the processing performed by the system 50v in the present disclosure may be performed solely by the vehicle 100v.

[0090] (F5) In the first embodiment, the server 200 automatically generates a driving control signal to be transmitted to the vehicle 100. Alternatively, 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.

[0091] (F6) In each of the above embodiments, the vehicle 100 may be configured to be able to travel by unmanned driving, and may be in the form of a platform having the configuration described below, for example. Specifically, the vehicle 100 may be equipped with at least a vehicle control device 110 and an actuator group 120 to perform the three functions of "running," "turning," and "stopping" by unmanned driving. When the vehicle 100 acquires information from the outside for unmanned driving, the vehicle 100 may further be equipped with a communication device 130. In other words, the vehicle 100 that can travel by unmanned driving may not be equipped with at least some of the interior parts such as a driver's seat and a dashboard, may not be equipped with at least some of the exterior parts such as bumpers and fenders, and may not be equipped with a body shell. In this case, the remaining parts such as the body shell may be attached to the vehicle 100 before the vehicle 100 is shipped from the factory FC, or the remaining parts such as the body shell may be attached to the vehicle 100 after the vehicle 100 is shipped from the factory FC without the remaining parts such as the body shell attached to the vehicle 100. Each component may be attached from any direction, such as the upper, lower, front, rear, right or left side of the vehicle 100, and may be attached from the same direction or from different directions. Note that the position of the platform configuration may also be determined in the same manner as for the vehicle 100 in the first embodiment.

[0092] (F7) 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 and 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 modules may be manufactured, for example, by joining multiple parts using welding or fasteners, or by integrally molding at least a portion of the module into a single component by casting. The molding method of integrally molding at least a portion of the module into a single component is also called gigacasting or megacasting. By using Gigacast, each part of a moving body that has conventionally been formed by joining multiple parts can be formed as a single part. For example, the front module, center module, and rear module described above may be manufactured using Gigacast.

[0093] (F8) Transporting the vehicle 100 by using the unmanned driving of the 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 the vehicle 100 by using self-propelled transport is also called "self-propelled production." In self-propelled production, for example, at a factory FC where the vehicle 100 is manufactured, at least a portion of the transport of the vehicle 100 is realized by self-propelled transport.

[0094] (F9) 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 or discrete circuits.

[0095] (F10) In each of the above embodiments, the driving control signal is generated using the vehicle position information. As shown in (F2) and (F3) above, if the vehicle 100, 100v is equipped with a distance measuring device that can measure the distance to the forward vehicle FV as an internal sensor, the driving control signal may be generated so that the distance output by the distance measuring device becomes the target distance TI.

[0096] 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]

[0097] 50, 50v... system, 100, 100v... vehicle, 110, 110v... vehicle control device, 111, 111v... processor, 112, 112v... memory, 113... input / output interface, 114... internal bus, 115, 115v... vehicle control unit, 120... actuator group, 130... communication device, 200... server, 201... processor, 202... memory, 203... input / output interface, 204... internal bus, 205... communication device, 210... remote control unit, 116, 211... acquisition unit, 117, 212... setting unit, 21 3...update unit, 121, 221...target setting information, 122, 222...interval control information, 123, 223...interval setting map, 224...work count counter, 300...external sensor, 301...communication device, DB...feature information database, DM...detection model, FC...factory, PA...work area, PG1, PG2, PG3...program, PL1...first location, PL2...second location, POA...adjustment position, POL...production line, RR...reference route, TG...target vehicle, TI...target interval, TPA...intervehicle work area, TR...roadway, WO...worker

Claims

1. A control device, a control unit that controls the operation of a plurality of mobile bodies that can move by unmanned operation; an acquisition unit that acquires characteristic information of a worker performing work between a target moving object among the plurality of moving objects and a continuous moving object that moves in front of or behind the target moving object; The control unit uses the acquired characteristic information to control the target moving body and the continuous moving body so that the distance between the target moving body and the continuous moving body becomes a target distance.

2. The control device according to claim 1, the characteristic information is information about the physical characteristics of the worker, the acquisition unit acquires a body size indicated by the physical characteristics using an image of the worker; The control device includes a setting unit that sets the target interval using a predetermined correspondence relationship between the body size and the target interval.

3. The control device according to claim 1, the characteristic information is information regarding manufacturing proficiency, The control device includes a setting unit that sets the target interval using a predetermined correspondence relationship between the proficiency level and the target interval.

4. The control device according to claim 3, the acquisition unit acquires a worker identifier previously assigned to the worker, and acquires the characteristic information corresponding to the acquired worker identifier by referring to a database in which the worker identifier is associated with the proficiency level; The control device The control device further includes an update unit that counts the number of times the worker has performed the task, and updates the database so that the proficiency level associated with the worker increases when the number of times the worker has performed the task is greater than a predetermined reference number.

5. The control device according to claim 3, The worker wears clothes whose appearance differs according to the classification based on the proficiency level, The acquisition unit acquires the characteristic information by identifying the category of the worker using an image of the worker's clothes.

Images