Vehicle inspection system, and method for controlling the vehicle inspection system

Abstract

This technology provides a way to reduce the possibility of a vehicle coming into contact with another object if its wheels deviate from the drum when inspecting a vehicle using unmanned vehicle operation. [Solution] The vehicle inspection system comprises a vehicle capable of driving by unmanned operation, an inspection device having a drum that rotates while supporting the vehicle's wheels, a sensor that outputs sensor information for detecting when the wheels have deviated from the drum, a detection unit that uses the sensor information to detect when the wheels have deviated from the drum, and a control unit that increases the braking force of the vehicle when it is detected that the wheels have deviated from the drum.

Description

Technical Field

[0001] The present disclosure relates to a vehicle inspection system and a method for controlling the vehicle inspection system.

Background Art

[0002] Conventionally, vehicles that travel autonomously or by remote control are known (Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] When inspecting a vehicle using inspection equipment having a drum that rotates while supporting the wheels of the vehicle, such as a drum tester or a brake tester, in this inspection, the wheels may be rotated by the driving force of the drum, or the drum may be rotated by the driving force of the wheels. When inspecting a vehicle using the running of a driverless vehicle, the inventors of the present application have found that if a difference occurs between the circumferential speed of the drum and the circumferential speed of the wheels, the wheels may deviate from the drum. If the wheels deviate from the drum, the vehicle may come into contact with other objects.

Means for Solving the Problems

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

[0006] (1) According to one embodiment of the present disclosure, a vehicle inspection system is provided. The vehicle inspection system comprises a vehicle capable of driving autonomously, an inspection facility having a drum that rotates while supporting the wheels of the vehicle, a sensor that outputs sensor information for detecting when the wheels have deviated from the drum, a detection unit that uses the sensor information to detect when the wheels have deviated from the drum, and a control unit that increases the braking force of the vehicle when it is detected that the wheels have deviated from the drum. According to this embodiment, when inspecting a vehicle using autonomous driving of the vehicle, the detection unit can use the sensor information to detect when the wheels have deviated from the drum of the inspection facility. When it is detected that the wheels have deviated from the drum, the control unit can decelerate or stop the vehicle by increasing the braking force of the vehicle. As a result, when the wheels deviate from the drum, the vehicle inspection system can reduce the possibility that the vehicle will come into contact with other objects. (2) The above configuration further includes an acquisition unit for acquiring information on the weight of the vehicle, and the control unit may set the braking force generated when the wheels deviate from the drum to be greater the greater the weight of the vehicle. In this configuration, the acquisition unit can acquire weight information. The control unit can increase the braking force of the vehicle by setting the braking force generated when the wheels deviate from the drum to be greater the greater the weight of the vehicle. In this way, the control unit can more reliably decelerate or stop the vehicle. As a result, the vehicle inspection system can further reduce the possibility of the vehicle coming into contact with other objects when the wheels deviate from the drum. (3) In the above configuration, the sensor includes an acceleration sensor that measures the acceleration of the vehicle and outputs the acceleration as sensor information, and the detection unit may use the acceleration to detect that the wheel has deviated from the drum. In this configuration, the detection unit can use the acceleration of the vehicle to detect that the wheel has deviated from the drum. (4) In the above configuration, the sensor includes a steering angle sensor that measures the actual steering angle of the vehicle and outputs the actual steering angle as sensor information, and the detection unit may use the actual steering angle to detect that the wheel has deviated from the drum. In this configuration, the detection unit can use the actual steering angle of the vehicle to detect that the wheel has deviated from the drum. (5) In the above configuration, the sensor includes a laser sensor that detects when an object enters a predetermined detection range and outputs the detection result as sensor information, and the detection unit may use the detection result to detect that the wheel has deviated from the drum. In this configuration, the detection unit can use the detection result of the laser sensor to detect that the wheel has deviated from the drum. (6) In the above configuration, the sensor includes a photoelectric sensor that detects the presence of an object on the light beam by irradiating a light beam at a predetermined position and outputs the detection result as sensor information, and the detection unit may use the detection result to detect that the wheel has deviated from the drum. In this configuration, the detection unit can use the detection result of the photoelectric sensor to detect that the wheel has deviated from the drum. (7) In the above configuration, the sensor includes a sensor that outputs sensor information capable of acquiring the position of the vehicle, and the detection unit may detect that the wheel has deviated from the drum using the position of the vehicle acquired using the sensor information. In this configuration, the detection unit can detect that the wheel has deviated from the drum using the position of the vehicle acquired using the sensor information. (8) In the above configuration, the detection unit may be provided with a plurality of sensors, and the detection unit may use the sensor information output from each of the plurality of sensors to detect that the wheel has deviated from the drum. In this configuration, the detection unit can use the sensor information output from each of the plurality of sensors to detect that the wheel has deviated from the drum. In this way, the detection unit can more reliably detect that the wheel has deviated from the drum. (9) According to another embodiment of the present disclosure, a control method is provided. The control method comprises a detection step of detecting, using sensor information output from a sensor, that a wheel of a vehicle capable of autonomous driving has deviated from a drum that rotates while supporting the wheel of the vehicle, and a control step of increasing the braking force of the vehicle when it is detected that the wheel has deviated from the drum. According to this embodiment, when inspecting a vehicle using autonomous driving, the detection step can be used to detect, using sensor information, that the wheel has deviated from the drum of the inspection equipment. When it is detected that the wheel has deviated from the drum, the control step can be used to decelerate or stop the vehicle by increasing the braking force of the vehicle. This reduces the possibility that the vehicle may come into contact with other objects when the wheel deviates from the drum. This disclosure can be implemented in various forms other than the vehicle inspection system and the control method for the vehicle inspection system described above. For example, it can be implemented in the form of a method for manufacturing the vehicle inspection system, a computer program that implements the control method for the vehicle inspection system, and a non-temporary recording medium on which the computer program is stored. [Brief explanation of the drawing]

[0007] [Figure 1] A conceptual diagram showing the configuration of the vehicle inspection system in the first embodiment. [Figure 2] A block diagram showing the configuration of the vehicle inspection system in the first embodiment. [Figure 3] A diagram showing the configuration of the inspection equipment in the first embodiment. [Figure 4] A flowchart illustrating the processing procedure for vehicle driving control in the first embodiment. [Figure 5] A flowchart illustrating the control method in the first embodiment. [Figure 6] A block diagram showing the configuration of the vehicle inspection system in the second embodiment. [Figure 7] A flowchart illustrating the control method in the second embodiment. [Figure 8]Block diagram showing the configuration of the vehicle inspection system in the third embodiment. [Figure 9] Flowchart showing the control method in the third embodiment. [Figure 10] Block diagram showing the configuration of the vehicle inspection system in the fourth embodiment. [Figure 11] Diagram showing the configuration of the inspection equipment in the fourth embodiment. [Figure 12] Flowchart showing the control method in the fourth embodiment. [Figure 13] Block diagram showing the configuration of the vehicle inspection system in the fifth embodiment. [Figure 14] Diagram showing the configuration of the inspection equipment in the fifth embodiment. [Figure 15] Flowchart showing the control method in the fifth embodiment. [Figure 16] Block diagram showing the configuration of the vehicle inspection system in the sixth embodiment. [Figure 17] Flowchart showing the control method in the sixth embodiment. [Figure 18] Explanatory diagram showing the schematic configuration of the vehicle inspection system in the seventh embodiment. [Figure 19] Flowchart showing the processing procedure of the running control of the vehicle in the seventh embodiment. [Figure 20] Flowchart showing the control method in the seventh embodiment. [[ID=SS]]

Embodiments for Carrying Out the Invention

[0008] A. First Embodiment: FIG. 1 is a conceptual diagram showing the configuration of a vehicle inspection system 50 in the first embodiment. The vehicle inspection system 50 includes one or more vehicles 100 as moving bodies, a server 200, one or more external sensors 300, a detection sensor 700, and inspection equipment 900.

[0009] In the present disclosure, a "mobile object" means an object that can move, for example, a vehicle or an electric vertical take-off and landing aircraft (so-called flying car). The vehicle may be a vehicle that travels by wheels 190 or a vehicle that travels on an endless track, and examples thereof include a passenger car, a truck, a bus, a two-wheeled vehicle, a four-wheeled vehicle, a tank, a construction vehicle, and the like. The vehicle includes a battery electric vehicle (BEV), a gasoline vehicle, a hybrid vehicle, and a fuel cell vehicle. When the mobile object is other than a vehicle, the expressions "vehicle" and "car" in the present disclosure can be appropriately replaced with "mobile object", and the expression "travel" can be appropriately replaced with "move".

[0010] The vehicle 100 is configured to be capable of traveling by autonomous driving. "Autonomous driving" means driving that does not depend on the driving operation of a passenger. The driving operation means an operation related to at least any one of "running", "turning", and "stopping" of the vehicle 100. Autonomous driving is realized by automatic or manual remote control using a device located outside the vehicle 100 or by autonomous control of the vehicle 100. A passenger who does not perform a driving operation may board the vehicle 100 traveling by autonomous driving. Passengers who do not perform a driving operation include, for example, a person simply sitting in the seat of the vehicle 100 and a person performing work different from the driving operation, such as assembly, inspection, and operation of switches, while boarding the vehicle 100. Note that driving by the driving operation of a passenger may be referred to as "manned driving".

[0011] In this specification, "remote control" includes "complete remote control" in which all the operations of the vehicle 100 are completely determined from outside the vehicle 100 and "partial remote control" in which a part of the operations of the vehicle 100 is determined from outside the vehicle 100. Further, "autonomous control" includes "complete autonomous control" in which the vehicle 100 autonomously controls its own operations without receiving any information from a device outside the vehicle 100 and "partial autonomous control" in which the vehicle 100 autonomously controls its own operations using the information received from a device outside the vehicle 100.

[0012] In this embodiment, the vehicle inspection system 50 is used to inspect the manufactured vehicle 100 at the factory FC where the vehicle 100 is manufactured. In other words, in this embodiment, the vehicle inspection system 50 is used for the new vehicle inspection of the vehicle 100 as stipulated in the Road Transport Vehicle Act. The new vehicle inspection is an inspection performed in order to put the vehicle 100 into use for the first time. The new vehicle inspection is also called the final inspection. The reference coordinate system of the factory FC is the global coordinate system GC, and any position within the factory FC can be represented by the X, Y, Z coordinates in the global coordinate system GC. The factory FC comprises a first location PL1 and a second location PL2. The first location PL1 and the second location PL2 are connected by a track TR on which the vehicle 100 can travel. Multiple external sensors 300 are installed along the track TR in the factory FC. The position of each external sensor 300 in the factory FC is pre-adjusted. The vehicle 100 moves from the first location PL1 to the second location PL2 via the track TR by unmanned operation. Then, vehicle 100 is inspected using inspection equipment 900 installed at the second location, PL2.

[0013] Figure 2 is a block diagram showing the configuration of the vehicle inspection system 50 in the first embodiment. The vehicle 100 includes a vehicle control device 110 for controlling various parts of the vehicle 100, an actuator group 120 including one or more actuators driven under the control of the vehicle control device 110, and a communication device 130 for communicating wirelessly with an external device such as a server 200.

[0014] The vehicle control device 110 is composed of a computer comprising 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 implements various functions, including those of a vehicle control unit 115, by executing a program PG1 stored in the memory 112.

[0015] The vehicle control unit 115 drives the vehicle 100 by controlling the actuator group 120. The vehicle control unit 115 can drive the vehicle 100 by controlling the actuator group 120 using the driving control signal received from the server 200. The driving control signal is a control signal for driving the vehicle 100. In this embodiment, the driving control signal includes the acceleration and steering angle of the vehicle 100 as parameters. In other embodiments, the driving 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.

[0016] The actuator group 120 includes actuators for the drive system to accelerate the vehicle 100, actuators for the steering system to change the direction of travel of the vehicle 100, and actuators for the braking system to decelerate the vehicle 100. The actuators for the braking system are, for example, hydraulic actuators. During the period when unmanned operation control is being performed, the actuators for the braking system are adjusted to brake hydraulic pressure corresponding to the negative acceleration expressed in the driving control signal. Negative acceleration is also called deceleration. The actuators for the braking system are connected to a braking system such as a disc brake system via a passage that supplies brake fluid. As a result, by controlling the actuators for the braking system, a braking force corresponding to the negative acceleration expressed in the driving control signal is applied to each wheel 190.

[0017] The detection sensor 700 outputs sensor information to detect when the wheel 190 deviates from the drum 91. The sensor information is, for example, information relating to the operation of the vehicle 100. Information relating to the operation of the vehicle 100 includes, for example, physical quantities relating to the vehicle 100, the behavior of the wheel 190 on the drum 91, and the displacement of the vehicle 100's positioning point 101. In this embodiment, the detection sensor 700 is an acceleration sensor 140 mounted on the vehicle 100. The acceleration sensor 140 measures the acceleration applied to the vehicle 100 and outputs the acceleration of the vehicle 100 as sensor information. The acceleration sensor 140 is, for example, a single-axis acceleration sensor capable of measuring the acceleration applied to the vehicle 100 in the longitudinal direction D1. In this case, the acceleration sensor 140 is mounted on the vehicle 100 such that the axis of the sensor is aligned with the longitudinal direction D1 of the vehicle 100.

[0018] Figure 3 shows the configuration of the inspection equipment 900 in the first embodiment. The inspection equipment 900 includes a drum 91, a motor 92, and a peripheral speed sensor 93.

[0019] The drum 91 rotates while supporting the wheel 190. The drum 91 is also called a roller. The drum 91 is rotatable about a central axis extending in the left-right direction D2 of the vehicle 100. In this embodiment, a drum unit 910 consisting of multiple drums 91 is provided for each wheel 190. The drum unit 910 in this embodiment has a main drum 911 and a sub-drum 912, which are drums 91 capable of gripping the wheel 190. The main drum 911 and the sub-drum 912 are arranged to face each other along the front-rear direction D1 of the vehicle 100. For example, if the vehicle 100 is a four-wheeled vehicle, the inspection equipment 900 has a total of four drum units 910: a first front drum unit, a second front drum unit, a first rear drum unit, and a second rear drum unit. Therefore, in this case, the inspection equipment 900 has a total of eight drums 91. The main drum 911 and sub-drum 912 of the first front drum unit each rotate while supporting the left front wheel of the vehicle 100. The main drum 911 and sub-drum 912 of the second front drum unit each rotate while supporting the right front wheel of the vehicle 100. The main drum 911 and sub-drum 912 of the first rear drum unit each rotate while supporting the left rear wheel of the vehicle 100. The main drum 911 and sub-drum 912 of the second rear drum unit each rotate while supporting the right rear wheel of the vehicle 100. In the following, when it is not necessary to distinguish between the main drum 911 and the sub-drum 912, they will simply be referred to as "drum 91".

[0020] Motor 92 rotates the drum 91. In this embodiment, a motor 92 is provided for each drum 91. Peripheral speed sensor 93 detects the peripheral speed of the drum 91. The unit of the peripheral speed of the drum 91 is, for example, km / h. In this embodiment, a peripheral speed sensor 93 is provided for each drum 91.

[0021] In an inspection using the inspection equipment 900, the vehicle 100 is inspected with the wheels 190 mounted on the drum 91. The inspection equipment 900 is, for example, a brake tester. The brake tester is used to test the braking performance of the vehicle 100. In an inspection using the brake tester, for example, with the shift position of the vehicle 100 set to the neutral range, the brake tester rotates the wheels 190 using the driving force of the drum 91. The vehicle 100 then applies a predetermined braking force to each wheel 190, thereby reducing the circumferential speed of the wheels 190. The unit of the circumferential speed of the wheels 190 is, for example, km / h. This allows for testing of the braking force of the braking system. If both the inspection equipment 900 and the vehicle 100 are functioning normally, the circumferential speed of the wheels 190 increases as the circumferential speed of the drum 91 increases due to the driving force of the drum 91. As the braking force of the vehicle 100 reduces the peripheral speed of the wheel 190, the peripheral speed of the drum 91 also decreases. In other words, during the inspection in which the wheel 190 is rotated by the driving force of the drum 91, the peripheral speed of the drum 91 and the peripheral speed of the wheel 190 are linked.

[0022] Furthermore, the inspection equipment 900 may be, for example, a drum tester. The drum tester is used to inspect the power performance of the vehicle 100. In an inspection using a drum tester, for example, with the shift position of the vehicle 100 set to the drive range, the vehicle 100 rotates the drum 91 at a predetermined peripheral speed due to the driving force of the wheels 190. Then, based on the difference between the vehicle 100's running speed, calculated using the peripheral speed of the drum 91 output from the peripheral speed sensor 93, and the speed displayed on the speedometer, the error of the speedometer relative to the actual running speed of the vehicle 100 is inspected. If both the inspection equipment 900 and the vehicle 100 are operating normally, as the peripheral speed of the wheels 190 increases due to the driving force of the wheels 190, the peripheral speed of the drum 91 increases. As the peripheral speed of the wheels 190 decreases, the peripheral speed of the drum 91 decreases. In other words, during the inspection in which the drum 91 is rotated by the driving force of the wheel 190, the peripheral speed of the drum 91 and the peripheral speed of the wheel 190 are linked.

[0023] Furthermore, the inspection equipment 900 may be a device that integrates a brake tester and a drum tester to achieve the functions of both a brake tester and a drum tester. Also, the uses of the inspection equipment 900 are not limited to those described above. The brake tester in the inspection equipment 900 may, for example, be used to inspect the operation of an anti-lock braking system.

[0024] In this case, during an inspection in which the drum 91 is rotated by the driving force of the wheel 190, if the drum 91 locks up and stops rotating, the peripheral speed of the wheel 190 may become greater than the peripheral speed of the drum 91. Also, during an inspection in which the wheel 190 is rotated by the driving force of the drum 91, if the wheel 190 locks up and stops rotating, the peripheral speed of the drum 91 may become greater than the peripheral speed of the wheel 190. Furthermore, during an inspection in which the wheel 190 is rotated by the driving force of the drum 91, if a braking force greater than a predetermined braking force is applied to the wheel 190, the peripheral speed of the wheel 190 may decrease below the planned speed. In this case, the peripheral speed of the drum 91 may be maintained at the predetermined peripheral speed. If the peripheral speed of the wheel 190 decreases below the planned speed and the peripheral speed of the drum 91 is maintained at the predetermined peripheral speed, the peripheral speed of the drum 91 may become greater than the peripheral speed of the wheel 190. Furthermore, during the inspection in which the wheel 190 is rotated by the driving force of the drum 91, if the shift position of the vehicle 100 unintentionally switches from the neutral range to the parking range, the circumferential speed of the wheel 190 may decrease below the planned speed. In this case, the circumferential speed of the drum 91 may be maintained at a predetermined circumferential speed. If the circumferential speed of the wheel 190 decreases below the planned speed and the circumferential speed of the drum 91 is maintained at a predetermined circumferential speed, the circumferential speed of the drum 91 may increase above the circumferential speed of the wheel 190. Also, during the inspection in which the wheel 190 is rotated by the driving force of the drum 91, if the shift position of the vehicle 100 unintentionally switches from the neutral range to the drive range, the circumferential speed of the wheel 190 may increase above the planned speed. In this case, the circumferential speed of the drum 91 may be maintained at a predetermined circumferential speed. If the peripheral speed of wheel 190 increases more than planned, and the peripheral speed of drum 91 is maintained at a predetermined peripheral speed, the peripheral speed of wheel 190 may become greater than the peripheral speed of drum 91. In this way, a difference may occur between the peripheral speed of drum 91 and the peripheral speed of wheel 190. If a difference occurs between the peripheral speed of drum 91 and the peripheral speed of wheel 190, wheel 190 may deviate from drum 91. If wheel 190 deviates from drum 91, there is a risk that vehicle 100 may come into contact with another object.

[0025] Therefore, when the server 200 detects that the wheel 190 has deviated from the drum 91, it increases the braking force of the vehicle 100 to decelerate the vehicle 100 remotely. This reduces the possibility of the vehicle 100 coming into contact with other objects. The case in which the wheel 190 deviates from the drum 91 includes at least one of the following: the wheel 190 deviates from the drum 91 in the longitudinal direction D1 of the vehicle 100, and the wheel 190 deviates from the drum 91 in the lateral direction D2 of the vehicle 100.

[0026] As shown in Figure 2, the server 200 is composed of a computer comprising a processor 201, memory 202, an input / output interface 203, and an internal bus 204. The processor 201, memory 202, and input / output interface 203 are connected via the internal bus 204 to enable bidirectional communication. A communication device 205 for communicating with various external devices of the server 200 is connected to the input / output interface 203. The communication device 205 can communicate with the vehicle 100 via wireless communication and can communicate with each external sensor 300 via wired or wireless communication. The processor 201 implements various functions, including those of a detection unit 211 and a remote control unit 212, by executing a program PG2 stored in memory 202.

[0027] The detection unit 211 detects that the wheel 190 has deviated from the drum 91 using sensor information output from the detection sensor 700. In this embodiment, the detection unit 211 detects that the wheel 190 has deviated from the drum 91 using the acceleration of the vehicle 100 as sensor information output from the acceleration sensor 140 mounted on the vehicle 100. Specifically, the detection unit 211 detects that the wheel 190 has deviated from the drum 91 when the acceleration of the vehicle 100 is equal to or greater than a predetermined first threshold. The first threshold can be predetermined experimentally or empirically. The detection unit 211 may also output a notification that the wheel 190 has deviated from the drum 91 from an output device (not shown). The output device may be, for example, a display device such as a monitor or a notification device such as a speaker.

[0028] The remote control unit 212 acquires detection results from the external sensor 300, generates a driving control signal to control the actuator group 120 of the vehicle 100 using the detection results, and transmits the driving control signal to the vehicle 100, thereby driving the vehicle 100 by remote control. Furthermore, if it is detected that the wheel 190 has deviated from the drum 91, the remote control unit 212 generates a driving control signal to increase the braking force of the vehicle 100 and transmits the driving control signal to the vehicle 100. As a result, the remote control unit 212 decelerates the vehicle 100 by remote control. In addition to driving control signals, the remote control unit 212 may also generate and output control signals to control various auxiliary equipment and actuators that operate various devices such as wipers, power windows, and lamps, which are provided on the vehicle 100. In other words, the remote control unit 212 may operate these various devices and auxiliary equipment by remote control.

[0029] The external sensor 300 is a sensor located outside the vehicle 100. In this embodiment, the external sensor 300 is a sensor that detects 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 or wireless communication.

[0030] Specifically, the external sensor 300 is comprised of a camera. The camera, acting as the external sensor 300, captures images of the vehicle 100 and outputs the captured images as detection results.

[0031] Figure 4 is a flowchart showing the processing procedure for vehicle 100 driving control in the first embodiment. In the processing procedure shown in Figure 4, the processor 201 of the server 200 functions as a remote control unit 212 by executing program PG2. The processor 111 of the vehicle 100 functions as a vehicle control unit 115 by executing program PG1.

[0032] 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 the position information that forms the basis for generating the 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 vehicle position information using the captured image acquired from the camera, which is the external sensor 300.

[0033] In detail, in step S1, the processor 201 detects the outline of the vehicle 100 from the captured image, calculates the coordinates of the positioning point 101 of the vehicle 100 in the coordinate system of the captured image, i.e., the local coordinate system, and obtains the position of the vehicle 100 by converting the calculated coordinates to coordinates in the global coordinate system GC. The outline 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, within or outside the vehicle inspection system 50 and stored in the memory 202 of the server 200. Examples of the detection model DM include a pre-trained machine learning model that has been trained to implement either semantic segmentation or instance segmentation. As this machine learning model, for example, a convolutional neural network (CNN) trained by supervised learning using a training dataset can be used. The training dataset includes, for example, multiple training images containing vehicle 100, and labels indicating whether each region in the training images represents vehicle 100 or something other than vehicle 100. During CNN training, it is preferable to update the CNN parameters using backpropagation to reduce the error between the output result of the detection model DM and the labels. Furthermore, the processor 201 can obtain the orientation of vehicle 100 by, for example, using the optical flow method, estimating it based on the direction of the vehicle 100's movement vector calculated from the positional changes of the vehicle 100's feature points between frames of the captured images.

[0034] In step S2, the processor 201 of the server 200 determines the next target location that the vehicle 100 should head to. In this embodiment, the target location is represented by X, Y, Z coordinates in the global coordinate system GC. The memory 202 of the server 200 pre-stores a reference route RR, which is the path that the vehicle 100 should travel. The route is represented by a node indicating the starting point, nodes indicating waypoints, a node indicating the destination, and links connecting each node. The processor 201 uses the vehicle position information and the reference route RR to determine the next target location that the vehicle 100 should head to. The processor 201 determines the target location on the reference route RR beyond the vehicle 100's current location.

[0035] In step S3, the processor 201 of the server 200 generates a driving control signal to drive the vehicle 100 toward the determined target position. The processor 201 calculates the vehicle's speed from the change in the vehicle's position and compares the calculated speed with the target speed. Overall, the processor 201 determines the acceleration so that the vehicle 100 accelerates if the speed is lower than the target speed, and determines the acceleration so that the vehicle 100 decelerates if the speed is higher than the target speed. Furthermore, if the vehicle 100 is located on the reference path RR, the processor 201 determines the steering angle and acceleration so that the vehicle 100 does not deviate from the reference path RR, and if the vehicle 100 is not located on the reference path RR, in other words, if the vehicle 100 has deviated from the reference path RR, the processor 201 determines the steering angle and acceleration so that the vehicle 100 returns to the reference path RR.

[0036] In step S4, the processor 201 of the server 200 transmits the generated driving control signal to the vehicle 100. The processor 201 repeats the acquisition of vehicle position information, determination of target position, generation of driving control signal, and transmission of driving control signal at predetermined intervals.

[0037] In step S5, the processor 111 of the vehicle 100 receives a 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 driving the vehicle 100 at the acceleration and steering angle indicated in the driving control signal. The processor 111 repeats the reception of the driving control signal and the control of the actuator group 120 at predetermined intervals. According to the vehicle inspection system 50 of this embodiment, the vehicle 100 can be driven by remote control, and the vehicle 100 can be moved without using transport equipment such as cranes or conveyors.

[0038] Figure 5 is a flowchart showing the control method for the vehicle inspection system 50 in the first embodiment. In the processing procedure shown in Figure 5, the processor 201 of the server 200 functions as a detection unit 211 and a remote control unit 212 by executing the program PG2. The processor 111 of the vehicle 100 functions as a vehicle control unit 115 by executing the program PG1. The control method shown in Figure 5 is repeatedly executed at a predetermined cycle, for example, during the period from the start to the end of an inspection using the inspection equipment 900.

[0039] In step S101, the processor 201 of the server 200 sends a first request signal to the vehicle 100 to acquire sensor information output from the acceleration sensor 140. Upon receiving the first request signal, the processor 111 of the vehicle 100 sends the sensor information output from the acceleration sensor 140 to the server 200 in step S102. If the acceleration of the vehicle 100 is less than the first threshold (step S103: No), the processor 201 of the server 200 terminates this flow. On the other hand, if the acceleration of the vehicle 100 is greater than or equal to the first threshold (step S103: Yes), in step S104, the processor 201 of the server 200 detects that the wheel 190 has deviated from the drum 91. In step S105, the processor 201 of the server 200 generates a driving control signal to increase the braking force of the vehicle 100. Specifically, if the braking force at the time the wheel 190 is detected to have deviated from the drum 91 is zero, such as when the wheel 190 is detected to have deviated from the drum 91 during a power performance test of the vehicle 100, the processor 201 of the server 200 will do the following: In this case, the processor 201 of the server 200 will increase the braking force of the vehicle 100 from zero. Also, if the braking force at the time the wheel 190 is detected to have deviated from the drum 91 is not zero, such as when the wheel 190 is detected to have deviated from the drum 91 during a braking performance test of the vehicle 100, the processor 201 of the server 200 will do the following: In this case, the processor 201 of the server 200 will generate a driving control signal to increase the braking force of the vehicle 100 from the current braking force. The current braking force is calculated, for example, based on the most recent driving control signal sent from the server 200 to the vehicle 100. In step S106, the processor 201 of the server 200 will send the generated driving control signal to the vehicle 100. Upon receiving the driving control signal, the processor 111 of the vehicle 100 decelerates the vehicle 100 by controlling the braking system using the received driving control signal in step S107.

[0040] According to the first embodiment described above, when inspecting the vehicle 100 using the unmanned operation of the vehicle 100, the detection unit 211 of the server 200 can use sensor information to detect when the wheel 190 deviates from the drum 91 of the inspection equipment 900. When it is detected that the wheel 190 has deviated from the drum 91, the remote control unit 212 of the server 200 generates a driving control signal to increase the braking force of the vehicle 100 and transmits it to the vehicle 100, thereby slowing down the vehicle 100. As a result, when the wheel 190 deviates from the drum 91, the vehicle inspection system 50 can remotely reduce the possibility of the vehicle 100 coming into contact with another object.

[0041] Furthermore, according to the first embodiment described above, by executing the detection step and the control step in this order, the vehicle 100 can be decelerated when it is detected that the wheel 190 has deviated from the drum 91. This reduces the possibility that the vehicle 100 may come into contact with another object when the wheel 190 deviates from the drum 91. The detection step is a step in which the wheel 190 of the vehicle 100, which is capable of driving unmanned, deviates from the drum 91 that rotates while supporting the wheel 190, using sensor information output from the detection sensor 700. The detection step corresponds to steps S101 to S104 in Figure 5. The control step is a step in which the braking force of the vehicle 100 is increased when it is detected that the wheel 190 has deviated from the drum 91. The control step corresponds to steps S105 to S107 in Figure 5.

[0042] Furthermore, according to the first embodiment described above, the vehicle inspection system 50 includes an acceleration sensor 140 as a detection sensor 700. When the acceleration of the vehicle 100 is greater than or equal to a first threshold, the detection unit 211 can detect that the wheel 190 has deviated from the drum 91. In other words, the detection unit 211 can detect that the wheel 190 has deviated from the drum 91 using the acceleration of the vehicle 100.

[0043] Furthermore, according to the first embodiment described above, the detection sensor 700 may be a single-axis acceleration sensor capable of measuring the acceleration applied to the vehicle 100 in the longitudinal direction D1. In this configuration, the detection unit 211 can more reliably detect that the wheel 190 has deviated from the drum 91 in the longitudinal direction D1 of the vehicle 100.

[0044] The acceleration sensor 140 may also be a single-axis acceleration sensor capable of measuring acceleration applied to the vehicle 100 in the left-right direction D2. In this configuration, the detection unit 211 can more reliably detect that the wheel 190 has deviated from the drum 91 in the left-right direction D2 of the vehicle 100. The acceleration sensor 140 may also be a two-axis acceleration sensor capable of measuring acceleration applied to two of the vehicle 100 in the longitudinal direction D1, left-right direction D2, and up-down direction D3. In this configuration, the detection unit 211 can more reliably detect that the wheel 190 has deviated from the drum 91. The acceleration sensor 140 may also be a three-axis acceleration sensor capable of measuring acceleration applied to the vehicle 100 in three directions: the longitudinal direction D1, left-right direction D2, and up-down direction D3. In this configuration, the detection unit 211 can more reliably detect that the wheel 190 has deviated from the drum 91.

[0045] Furthermore, according to the first embodiment described above, the detection unit 211 can detect that the wheel 190 has deviated from the drum 91 using sensor information output from a detection sensor 700 that is pre-installed on the vehicle 100. As a result, the vehicle inspection system 50 can detect that the wheel 190 has deviated from the drum 91 without having to install the detection sensor 700 outside the vehicle 100. Therefore, the installation cost of the vehicle inspection system 50 can be reduced.

[0046] B. Second Embodiment: Figure 6 is a block diagram showing the configuration of the vehicle inspection system 50a in the second embodiment. In this embodiment, the configuration of the server 200a differs from that of the first embodiment. The other configurations are the same as in the first embodiment unless otherwise specified. Components identical to those in the first embodiment are denoted by the same reference numerals and their descriptions are omitted.

[0047] The processor 201a of the server 200a executes the program PG2 stored in the memory 202a, thereby realizing various functions including those of the detection unit 211, the acquisition unit 213, and the remote control unit 212a.

[0048] The acquisition unit 213 acquires weight information relating to the weight of the vehicle 100. The weight information is, for example, a weight value that numerically represents the weight of the vehicle 100. The weight information may also be classification information that indicates a classification according to the weight of the vehicle 100. The classification information is data that indicates a group of vehicle types when multiple vehicle types are classified together according to the weight of the vehicle 100. In this embodiment, the acquisition unit 213 acquires the weight information stored in the memory 112 of the vehicle control device 110 from the vehicle 100. The acquisition unit 213 may acquire the weight information by other methods. For example, if a first database in which vehicle identification numbers such as VIN numbers and weight values ​​are associated is stored in the memory 202a of the server 200a, the acquisition unit 213 may acquire the weight information as follows. In this case, the acquisition unit 213 acquires the vehicle identification number stored in the memory 112 of the vehicle control device 110 from the vehicle 100. The acquisition unit 213 then obtains the weight value associated with the vehicle identification number obtained from the vehicle 100 in the first database. In this way, the acquisition unit 213 obtains the weight value as weight information. Alternatively, if a second database containing vehicle type information and classification information is stored in the memory 202a of the server 200a, the acquisition unit 213 may obtain the weight information as follows. In this case, the acquisition unit 213 identifies the vehicle type using the detection result output from the external sensor 300. Then, the acquisition unit 213 obtains the classification information associated with the vehicle type information obtained from the vehicle 100 in the second database. In this way, the acquisition unit 213 obtains the classification information as weight information.

[0049] When it is detected that the wheel 190 has deviated from the drum 91, the remote control unit 212a generates a driving control signal to apply a braking force corresponding to the weight of the vehicle 100 and transmits it to the vehicle 100. At this time, the remote control unit 212a sets a larger braking force to be applied when the wheel 190 deviates from the drum 91, the heavier the vehicle 100 is. In this way, the remote control unit 212a increases the braking force applied to the vehicle 100 when the wheel 190 deviates from the drum 91, as the weight of the vehicle 100 increases.

[0050] Figure 7 is a flowchart showing the control method for the vehicle inspection system 50a in the second embodiment. In the processing procedure shown in Figure 7, the processor 201a of the server 200a functions as a detection unit 211, a remote control unit 212a, and an acquisition unit 213 by executing the program PG2. The processor 111 of the vehicle 100 functions as a vehicle control unit 115 by executing the program PG1. The control method shown in Figure 7 is repeatedly executed at a predetermined cycle, for example, during the period from the start to the end of an inspection using the inspection equipment 900.

[0051] In step S201, the processor 201a of the server 200a sends a first request signal to the vehicle 100 to acquire sensor information output from the acceleration sensor 140. Upon receiving the first request signal, the processor 111 of the vehicle 100 sends the sensor information output from the acceleration sensor 140 to the server 200a in step S202. If the acceleration of the vehicle 100 is less than the first threshold (step S203: No), the processor 201a of the server 200a terminates this flow. On the other hand, if the acceleration of the vehicle 100 is greater than or equal to the first threshold (step S203: Yes), in step S204, the processor 201a of the server 200a detects that the wheel 190 has deviated from the drum 91. In step S205, the processor 201a of the server 200a sends a second request signal to the vehicle 100 to acquire weight information. Upon receiving the second request signal, the processor 111 of the vehicle 100 transmits the weight information stored in the memory 112 of the vehicle control device 110 to the server 200a in step S206. In step S207, the processor 201a of the server 200a generates a driving control signal to increase the braking force according to the weight of the vehicle 100. In step S208, the processor 201a of the server 200a transmits the generated driving control signal to the vehicle 100. Upon receiving the driving control signal, the processor 111 of the vehicle 100 decelerates the vehicle 100 by controlling the braking system using the received driving control signal in step S209.

[0052] According to the second embodiment described above, when it is detected that the wheel 190 has deviated from the drum 91, the acquisition unit 213 can acquire weight information. The remote control unit 212a can then set a larger braking force to be generated when the wheel 190 deviates from the drum 91, depending on the weight of the vehicle 100, thereby increasing the braking force of the vehicle 100. In this configuration, when it is detected that the wheel 190 has deviated from the drum 91, the remote control unit 212a can more reliably decelerate the vehicle 100. As a result, when the wheel 190 deviates from the drum 91, the vehicle inspection system 50a can further reduce the possibility that the vehicle 100 will come into contact with another object.

[0053] C. Third Embodiment: Figure 8 is a block diagram showing the configuration of the vehicle inspection system 50b in the third embodiment. In this embodiment, the configuration of the vehicle 100b and the configuration of the server 200b differ from those in the first embodiment. The other configurations are the same as in the first embodiment unless otherwise specified. Components identical to those in the first embodiment are denoted by the same reference numerals and their descriptions are omitted.

[0054] Vehicle 100b is equipped with a steering angle sensor 150 as a detection sensor 700. The steering angle sensor 150 measures the actual steering angle of vehicle 100b and outputs the actual steering angle of vehicle 100b as sensor information.

[0055] The processor 201b of the server 200b implements various functions, including those of the detection unit 211b and the remote control unit 212, by executing the program PG2 stored in memory 202b. The detection unit 211b uses the actual steering angle of the vehicle 100 as sensor information output from the steering angle sensor 150 mounted on the vehicle 100b to detect when the wheel 190 deviates from the drum 91. Specifically, the detection unit 211b detects that the wheel 190 has deviated from the drum 91 when the travel trajectory of the vehicle 100b, determined by the actual steering angle of the vehicle 100b, deviates from a predetermined trajectory range. The travel trajectory of the vehicle 100b can be generated, for example, by arranging the actual steering angles of the vehicle 100b acquired at multiple different timings in chronological order. The trajectory range for the travel trajectory of the vehicle 100b can be predetermined experimentally or empirically.

[0056] Figure 9 is a flowchart showing the control method for the vehicle inspection system 50b in the third embodiment. In the processing procedure shown in Figure 9, the processor 201b of the server 200b functions as the detection unit 211b and the remote control unit 212 by executing the program PG2. The processor 111 of the vehicle 100 functions as the vehicle control unit 115 by executing the program PG1. The control method shown in Figure 9 is repeatedly executed at a predetermined cycle, for example, during the period from the start to the end of an inspection using the inspection equipment 900.

[0057] In step S301, the processor 201b of the server 200b sends a third request signal to the vehicle 100b to acquire sensor information output from the steering angle sensor 150. Upon receiving the third request signal, the processor 111 of the vehicle 100b sends the sensor information output from the steering angle sensor 150 to the server 200b in step S302. Steps S301 and S302 are repeatedly executed in this order until the server 200b acquires N or more predetermined sensor information items (N is an integer greater than or equal to 2) from the vehicle 100b. If the server 200b acquires N or more sensor information items from the vehicle 100b (step S303: Yes), in step S304, the processor 201b of the server 200b generates the vehicle 100b's trajectory. If the vehicle 100b's trajectory does not deviate from the predetermined trajectory range (step S305: No), the processor 201b of the server 200b terminates this flow. On the other hand, if the vehicle 100b's trajectory deviates from a predetermined trajectory range (step S305: Yes), in step S306, the server 200b's processor 201b detects that the wheels 190 have deviated from the drum 91. In step S307, the server 200b's processor 201b generates a driving control signal to increase the braking force of the vehicle 100b. In step S308, the server 200b's processor 201b transmits the generated driving control signal to the vehicle 100b. Upon receiving the driving control signal, the vehicle 100b's processor 111 controls the braking system using the received driving control signal in step S309, thereby decelerating the vehicle 100b.

[0058] According to the third embodiment described above, the vehicle inspection system 50b includes a steering angle sensor 150 as a detection sensor 700. When the travel trajectory of the vehicle 100b, which is determined by the actual steering angle of the vehicle 100b, deviates from a predetermined trajectory range, the detection unit 211b can detect that the wheel 190 has deviated from the drum 91. In other words, the detection unit 211b can detect that the wheel 190 has deviated from the drum 91 using the actual steering angle of the vehicle 100b.

[0059] D. Fourth Embodiment: Figure 10 is a block diagram showing the configuration of the vehicle inspection system 50c in the fourth embodiment. In this embodiment, the configuration of the inspection equipment 900c, the vehicle 100c, and the server 200c differ from those in the first embodiment. The other configurations are the same as in the first embodiment unless otherwise specified. Components identical to those in the first embodiment are denoted by the same reference numerals and their descriptions are omitted.

[0060] Figure 11 shows the configuration of the inspection equipment 900c in the fourth embodiment. In Figure 11, the vehicle 100c when the wheels 190 have not deviated from the drum 91 is shown with a solid line, and the vehicle 100c when the wheels 190 have deviated from the drum 91 is shown with a dashed line.

[0061] In this embodiment, a drum unit 910 having two drums 91, a main drum 911 and a sub-drum 912, is provided for each of the 190 wheels on the front wheels of the vehicle 100c. A single drum 913, as a single drum 91, is provided for each of the 190 wheels on the rear wheels of the vehicle 100c. For example, if the vehicle 100c is a four-wheeled vehicle, the inspection equipment 900c has a total of six drums 91, consisting of a first front drum unit, a second front drum unit, a first rear single drum, and a second rear single drum. The configuration of the first front drum unit and the second front drum unit is the same as in the first embodiment. The first rear single drum rotates while supporting the left rear wheel of the vehicle 100c. The second rear single drum rotates while supporting the right rear wheel of the vehicle 100c. Hereinafter, when it is not necessary to distinguish between the main drum 911, the sub-drum 912, and the single drum 913, they will simply be referred to as "drum 91".

[0062] The inspection equipment 900c is equipped with a laser sensor 96 as a detection sensor 700. The laser sensor 96 detects when an object enters a predetermined detection range RA and outputs the detection result as sensor information. The laser sensor 96 is installed in a position where it can detect when the wheel 190 deviates from the drum 91. As a result, the laser sensor 96 can detect when the wheel 190 deviates from the drum 91 by detecting when the positioning point 101 of the vehicle 100c enters the detection range RA. In this embodiment, the positioning point 101 of the vehicle 100c is the front bumper of the vehicle 100c. Therefore, the laser sensor 96 is installed in a position where the front bumper of the vehicle 100c is located when the wheel 190 deviates from the drum 91. In other embodiments, the positioning point 101 of the vehicle 100c may be the rear bumper of the vehicle 100c. In this case, it is installed in a position where it can detect when the wheel 190 deviates from the drum 91 to the rear of the vehicle 100c. Alternatively, the positioning point 101 of vehicle 100c may be the wheel 190. In this case, the laser sensor 96 is installed at the position where the wheel 190 is located when the wheel 190 deviates from the drum 91. The installation position of the laser sensor 96 can be determined in advance experimentally or empirically.

[0063] The inspection equipment 900c is further equipped with a communication device 99 for communicating wirelessly with external devices such as the server 200c. A laser sensor 96 is connected to the communication device 99 of the inspection equipment 900c.

[0064] As shown in Figure 10, the vehicle 100c includes a vehicle control device 110, an actuator group 120, and a communication device 130, without a detection sensor 700. In other embodiments, the vehicle 100c may include a detection sensor 700.

[0065] The processor 201c of the server 200c implements various functions, including those of the detection unit 211c and the remote control unit 212, by executing the program PG2 stored in the memory 202c. The detection unit 211c uses the detection result as sensor information output from the laser sensor 96 installed in the inspection equipment 900c to detect when the wheel 190 deviates from the drum 91. Specifically, when it is detected that the positioning point 101 of the vehicle 100c has entered the detection range RA of the laser sensor 96, the detection unit 211c detects that the wheel 190 has deviated from the drum 91.

[0066] Figure 12 is a flowchart showing the control method for the vehicle inspection system 50c in the fourth embodiment. In the processing procedure shown in Figure 12, the processor 201c of the server 200c functions as a detection unit 211c and a remote control unit 212 by executing the program PG2. The processor 111 of the vehicle 100 functions as a vehicle control unit 115 by executing the program PG1. The control method shown in Figure 12 is repeatedly executed at a predetermined cycle, for example, during the period from the start to the end of an inspection using the inspection equipment 900c.

[0067] In step S401, the processor 201c of the server 200c sends a fourth request signal to the inspection equipment 900c to acquire sensor information output from the laser sensor 96. Upon receiving the fourth request signal, the inspection equipment 900c sends the sensor information output from the laser sensor 96 to the server 200c in step S402. If it is not detected that the positioning point 101 of the vehicle 100c has entered the detection range RA of the laser sensor 96 (step S403: No), the processor 201c of the server 200c terminates this flow. On the other hand, if it is detected that the positioning point 101 of the vehicle 100c has entered the detection range RA of the laser sensor 96 (step S403: Yes), in step S404, the processor 201c of the server 200c detects that the wheel 190 has deviated from the drum 91. In step S405, the processor 201c of the server 200c generates a driving control signal to increase the braking force of the vehicle 100c. In step S406, the processor 201c of the server 200c transmits the generated driving control signal to the vehicle 100c. Upon receiving the driving control signal, the processor 111 of the vehicle 100c decelerates the vehicle 100c in step S407 by controlling the braking system using the received driving control signal.

[0068] According to the fourth embodiment described above, the vehicle inspection system 50c is equipped with a laser sensor 96 as the detection sensor 700. The detection unit 211c can use the detection result of the laser sensor 96 to detect that the wheel 190 has deviated from the drum 91.

[0069] Furthermore, according to the fourth embodiment described above, the detection unit 211c can detect that the wheel 190 has deviated from the drum 91 using sensor information output from a detection sensor 700 located in a different location from the vehicle 100c. As a result, the vehicle inspection system 50c can detect that the wheel 190 has deviated from the drum 91 even if the detection sensor 700 is not mounted on the vehicle 100c. In this configuration, the vehicle inspection system 50c can be used for various types of vehicles 100c. Therefore, the versatility of the vehicle inspection system 50c can be improved.

[0070] E. Fifth Embodiment: Figure 13 is a block diagram showing the configuration of the vehicle inspection system 50d in the fifth embodiment. In this embodiment, the configuration of the inspection equipment 900d and the configuration of the server 200d differ from those of the first embodiment. The other configurations are the same as in the first embodiment unless otherwise specified. Components identical to those in the first embodiment are denoted by the same reference numerals and their descriptions are omitted.

[0071] Figure 14 shows the configuration of the inspection equipment 900d in the fifth embodiment. In Figure 14, the vehicle 100 when the wheels 190 have not deviated from the drum 91 is shown with a solid line, and the vehicle 100 when the wheels 190 have deviated from the drum 91 is shown with a dashed line.

[0072] The inspection equipment 900d is equipped with a photoelectric sensor 97 as a detection sensor 700. The photoelectric sensor 97 detects the presence of an object on the light ray B by irradiating it at a predetermined position and outputs the detection result as sensor information. The photoelectric sensor 97 is installed in a position where it can detect when the wheel 190 has deviated from the drum 91. As a result, the photoelectric sensor 97 can detect when the wheel 190 has deviated from the drum 91 depending on whether the positioning point 101 of the vehicle 100 is on the light ray B. In this embodiment, the positioning point 101 of the vehicle 100 is the wheel 190. Furthermore, the photoelectric sensor 97 is installed between the main drum 911 and the sub-drum 912 so that it can detect when the wheel 190 is between the main drum 911 and the sub-drum 912. The installation position of the photoelectric sensor 97 can be predetermined experimentally or empirically. In addition, the inspection equipment 900d is equipped with a communication device 99 for communicating wirelessly with external devices such as a server 200d. A photoelectric sensor 97 is connected to the communication device 99 of the inspection equipment 900d.

[0073] As shown in Figure 13, the processor 201d of the server 200d implements various functions, including those of the detection unit 211d and the remote control unit 212, by executing the program PG2 stored in the memory 202d. The detection unit 211d uses sensor information output from multiple detection sensors 700 to detect when the wheel 190 has deviated from the drum 91. In this embodiment, the detection unit 211d uses the detection result as sensor information output from the photoelectric sensor 97 provided in the inspection equipment 900d and the acceleration of the vehicle 100 as sensor information output from the acceleration sensor 140 mounted on the vehicle 100 to detect when the wheel 190 has deviated from the drum 91. In this embodiment, the detection unit 211d detects when it is detected that the wheel 190, as the positioning point 101 of the vehicle 100, is not on the light ray B. Furthermore, in this embodiment, the detection unit 211d detects that the wheels 190 have deviated from the drum 91 when the vibration amount of the vehicle 100, which is determined by the acceleration of the vehicle 100, is greater than or equal to a predetermined second threshold. The vibration amount of the vehicle 100 can be represented by the amplitude obtained by integrating the acceleration of the vehicle 100 at each point in time twice and arranging the displacements of the vehicle 100 at each point in time in chronological order. The second threshold can be predetermined experimentally or empirically. Note that the combination of the multiple detection sensors 700 may be other than those described above. Also, the multiple detection sensors 700 may include sensors of the same type or sensors of different types.

[0074] Figure 15 is a flowchart showing the control method for the vehicle inspection system 50d in the fifth embodiment. In the processing procedure shown in Figure 15, the processor 201d of the server 200d functions as a detection unit 211d and a remote control unit 212 by executing the program PG2. The processor 111 of the vehicle 100 functions as a vehicle control unit 115 by executing the program PG1. The control method shown in Figure 15 is repeatedly executed at a predetermined cycle, for example, during the period from the start to the end of an inspection using the inspection equipment 900d.

[0075] In step S501, the processor 201d of the server 200d sends a fifth request signal to the inspection equipment 900d to acquire sensor information output from the photoelectric sensor 97. Upon receiving the fifth request signal, the inspection equipment 900d sends the sensor information output from the photoelectric sensor 97 to the server 200d in step S502. In step S503, the processor 201d of the server 200d sends a first request signal to the vehicle 100 to acquire sensor information output from the acceleration sensor 140. Upon receiving the first request signal, the processor 111 of the vehicle 100 sends the sensor information output from the acceleration sensor 140 to the server 200d in step S504. Steps S503 and S504 are repeatedly executed in this order until the server 200d acquires a predetermined number of M (where M is an integer of 2 or more) or more sensor information output from the acceleration sensor 140. If the server 200d acquires M or more sensor information outputs from the acceleration sensor 140 (step S505: Yes), in step S506, the processor 201d of the server 200d calculates the vibration amount of the vehicle 100. If the vibration amount of the vehicle 100 is less than the second threshold (step S507: No), and it is detected that the wheel 190 is on the light ray B (step S508: Yes), the processor 201d of the server 200d terminates this flow. On the other hand, if the vibration amount of the vehicle 100 is greater than or equal to the second threshold (step S507: Yes), and it is detected that the wheel 190 is not on the light ray B (step S508: No), in step S509, the processor 201d of the server 200d detects that the wheel 190 has deviated from the drum 91. In step S510, the processor 201d of the server 200d generates a driving control signal to increase the braking force of the vehicle 100. In step S511, the processor 201d of the server 200d transmits the generated driving control signal to the vehicle 100. Upon receiving the driving control signal, the processor 111 of the vehicle 100 decelerates the vehicle 100 in step S512 by controlling the braking system using the received driving control signal.

[0076] According to the fifth embodiment described above, the vehicle inspection system 50d is equipped with multiple detection sensors 700. The detection unit 211d can use the sensor information output from each of the multiple detection sensors 700 to detect when the wheel 190 has deviated from the drum 91. In this configuration, the detection unit 211d can more reliably detect when the wheel 190 has deviated from the drum 91.

[0077] The detection unit 211d may also use sensor information output from three or more detection sensors 700 to detect when the wheel 190 has deviated from the drum 91. In this configuration, the detection unit 211d can detect when the wheel 190 has deviated from the drum 91 with even greater reliability.

[0078] Furthermore, according to the fifth embodiment described above, the vehicle inspection system 50d includes a photoelectric sensor 97 as the detection sensor 700. The detection unit 211d can then use the detection result of the photoelectric sensor 97 to detect that the wheel 190 has deviated from the drum 91.

[0079] Furthermore, according to the fifth embodiment described above, the photoelectric sensor 97 is installed between the main drum 911 and the sub-drum 912 so as to be able to detect that the wheel 190, which serves as the positioning point 101 of the vehicle 100, is located between the main drum 911 and the sub-drum 912. When it is detected that the wheel 190, which serves as the positioning point 101 of the vehicle 100, is not on the light ray B, the detection unit 211d can detect that the wheel 190 has deviated from the drum 91.

[0080] In other embodiments, a photoelectric sensor 97 may be installed at the position where the wheel 190 is located when the wheel 190 deviates from the drum 91. In this case, the detection unit 211d only needs to detect that the wheel 190 has deviated from the drum 91 when it is detected that the wheel 190, as the positioning point 101 of the vehicle 100, is on the light ray B. Even in this configuration, the detection unit 211d can detect that the wheel 190 has deviated from the drum 91 using the detection result of the photoelectric sensor 97.

[0081] Furthermore, according to the fifth embodiment described above, the vehicle inspection system 50d includes an acceleration sensor 140 as a detection sensor 700. When the amount of vibration of the vehicle 100, which is determined by the acceleration of the vehicle 100, is greater than or equal to a second threshold, the detection unit 211d can detect that the wheel 190 has deviated from the drum 91. In other words, even in this configuration, the detection unit 211d can use the acceleration of the vehicle 100 to detect that the wheel 190 has deviated from the drum 91.

[0082] F. Sixth Embodiment: Figure 16 is a block diagram showing the configuration of the vehicle inspection system 50e in the sixth embodiment. In this embodiment, the configuration of the vehicle 100c and the configuration of the server 200e differ from those of the first embodiment. The other configurations are the same as in the first embodiment unless otherwise specified. Components identical to those in the first embodiment are denoted by the same reference numerals and their descriptions are omitted.

[0083] Vehicle 100c includes a vehicle control device 110, an actuator group 120, and a communication device 130, but does not include a detection sensor 700. In other embodiments, vehicle 100c may include a detection sensor 700.

[0084] The processor 201e of the server 200e implements various functions, including those of the detection unit 211e and the remote control unit 212, by executing the program PG2 stored in memory 202e. The detection unit 211e detects that the wheel 190 has deviated from the drum 91 using sensor information output from a sensor capable of acquiring the position of the vehicle 100c. In this embodiment, the detection unit 211e detects that the wheel 190 has deviated from the drum 91 using an image captured as sensor information output from a camera, which is an external sensor 300. In other words, in this embodiment, the detection sensor 700 is a camera, which is an external sensor 300. Specifically, the detection unit 211e detects that the wheel 190 has deviated from the drum 91 when the position of the vehicle 100c, which is identified by the vehicle position information acquired using the image captured, is outside a predetermined range. The predetermined range for the position of the vehicle 100c can be predetermined experimentally or empirically. In this case, the specified range for the position of vehicle 100c may be determined according to the steering angle of vehicle 100c. In this case, the specified range for the position of vehicle 100c can be determined, for example, by verifying in advance the relationship between the steering angle of vehicle 100c and the position of vehicle 100c, as expressed in the driving control signal.

[0085] Figure 17 is a flowchart showing the control method for the vehicle inspection system 50e in the sixth embodiment. In the processing procedure shown in Figure 17, the processor 201e of the server 200e functions as the detection unit 211e and the remote control unit 212 by executing the program PG2. The processor 111 of the vehicle 100c functions as the vehicle control unit 115 by executing the program PG1. The control method shown in Figure 17 is repeatedly executed at a predetermined cycle, for example, during the period from the start to the end of an inspection using the inspection equipment 900.

[0086] In step S601, the processor 201e of the server 200e sends a sixth request signal to the camera to acquire the captured image. Upon receiving the sixth request signal, the camera sends the captured image to the server 200e in step S602. In step S603, the processor 201e of the server 200e acquires vehicle position information using the captured image. If the position of vehicle 100c is within a predetermined range (step S604: No), the processor 201e of the server 200e terminates this flow. On the other hand, if the position of vehicle 100c is outside a predetermined range (step S604: Yes), in step S605, the processor 201e of the server 200e detects that the wheel 190 has deviated from the drum 91. In step S606, the processor 201e of the server 200e generates a driving control signal to increase the braking force of vehicle 100c. In step S607, the processor 201e of the server 200e transmits the generated driving control signal to the vehicle 100c. Upon receiving the driving control signal, the processor 111 of the vehicle 100c decelerates the vehicle 100c in step S608 by controlling the braking system using the received driving control signal.

[0087] According to the sixth embodiment described above, the vehicle inspection system 50e includes a camera that outputs an image capable of acquiring the position of the vehicle 100c as a detection sensor 700. When the position of the vehicle 100c acquired using the image is outside a predetermined range, the detection unit 211e can detect that the wheel 190 has deviated from the drum 91. In other words, the detection unit 211e can detect that the wheel 190 has deviated from the drum 91 using the position of the vehicle 100c.

[0088] Furthermore, according to the sixth embodiment described above, the detection unit 211e can detect when the wheel 190 has deviated from the drum 91 using sensor information output from an external sensor 300 that has been pre-installed in the factory FC for driving the vehicle 100c in unmanned operation. As a result, the vehicle inspection system 50e can detect when the wheel 190 has deviated from the drum 91 without having to install a dedicated detection sensor 700 outside the vehicle 100c for detecting when the wheel 190 has deviated from the drum 91. Therefore, the installation cost of the vehicle inspection system 50e can be reduced.

[0089] G. Seventh Embodiment: Figure 18 is an explanatory diagram showing the schematic configuration of the vehicle inspection system 50v in the seventh embodiment. In this embodiment, the vehicle inspection system 50v differs from the first embodiment in that it does not have a server 200. Also, in this embodiment, the vehicle 100v can be driven by autonomous control of the vehicle 100v. The other configurations are the same as in the first embodiment unless otherwise specified.

[0090] In this embodiment, the processor 111v of the vehicle control device 110v functions as a detection unit 116 and a vehicle control unit 115v by executing the program PG1 stored in the memory 112v. The detection unit 116 detects that the wheels 190 have deviated from the drum 91 using sensor information output from the detection sensor 700. In this embodiment, the detection unit 116 detects that the wheels 190 have deviated from the drum 91 when the acceleration of the vehicle 100v, identified by sensor information output from the acceleration sensor 140 mounted on the vehicle 100v, is greater than or equal to a predetermined first threshold. The vehicle control unit 115v acquires the output result from the external sensor 300, generates a driving control signal using the output result, and outputs the generated driving control signal to operate the actuator group 120, thereby enabling the vehicle 100v to be driven autonomously. Furthermore, if it is detected that the wheel 190 has deviated from the drum 91, the vehicle control unit 115v generates a driving control signal to increase the braking force of the vehicle 100v, and outputs the generated driving control signal to operate the braking device, thereby decelerating the vehicle 100v. In this embodiment, in addition to the program PG1, the memory 112v has the detection model DM and the reference path RR stored in advance.

[0091] Figure 19 is a flowchart showing the processing procedure for vehicle 100V's driving control in the seventh embodiment. In the processing procedure shown in Figure 19, the vehicle 100V's processor 111V functions as a vehicle control unit 115V by executing program PG1.

[0092] In step S901, the processor 111v of the vehicle control device 110v acquires vehicle position information using the detection result output from the camera, which is an external sensor 300. In step S902, the processor 111v determines the target position to which the vehicle 100v should next go. In step S903, the processor 111v generates a driving control signal to drive 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 to drive the vehicle 100v according to the parameters expressed 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 vehicle inspection 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.

[0093] Figure 20 is a flowchart showing the control method for the vehicle inspection system 50v in the seventh embodiment. In the processing procedure shown in Figure 20, the processor 111 of the vehicle 100v functions as a detection unit 116 and a vehicle control unit 115v by executing the program PG1. The control method shown in Figure 20 is repeatedly executed at a predetermined cycle, for example, during the period from the start to the end of an inspection using the inspection equipment 900.

[0094] In step S701, the processor 111v of vehicle 100v acquires sensor information output from the acceleration sensor 140. If the acceleration of vehicle 100v is less than the first threshold (step S702: No), the processor 111v of vehicle 100v terminates this flow. On the other hand, if the acceleration of vehicle 100v is greater than or equal to the first threshold (step S702: Yes), in step S703, the processor 111v of vehicle 100v detects that the wheels 190 have deviated from the drum 91. In step S704, the processor 111v of vehicle 100v generates a driving control signal to increase the braking force of vehicle 100. In step S705, the processor 111v of vehicle 100v decelerates vehicle 100v by controlling the braking device using the generated driving control signal.

[0095] According to the seventh embodiment described above, when inspecting the vehicle 100V using the unmanned operation of the vehicle 100V, the detection unit 116 of the vehicle control device 110V can use sensor information to detect when the wheels 190 have deviated from the drum 91 of the inspection equipment 900. When it is detected that the wheel 190 has deviated from the drum 91, the vehicle control unit 115v of the vehicle control device 110v can do the following. In this case, the vehicle control unit 115v generates a driving control signal to increase the braking force of the vehicle 100v, and by controlling the braking device using the generated driving control signal, the vehicle 100v can be decelerated. This reduces the possibility of the vehicle 100v coming into contact with another object when the wheel 190 deviates from the drum 91, through the autonomous control of the vehicle 100v.

[0096] Furthermore, according to the seventh embodiment described above, the vehicle control device 110v can use sensor information output from the detection sensor 700 mounted on the vehicle 100v to detect when the wheels 190 deviate from the drum 91 and decelerate the vehicle 100v. In other words, when the wheels 190 deviate from the drum 91, the vehicle control device 110v can decelerate the vehicle 100v without exchanging information with the server 200 or the external sensor 300. As a result, the vehicle inspection system 50v can quickly decelerate the vehicle 100v.

[0097] H. Other embodiments: (H1) If it is detected that the wheel 190 has deviated from the drum 91, the control units 115v, 212, and 212a may decelerate the vehicles 100, 100b, 100c, and 100v and stop them. In this configuration, the possibility of the vehicles 100, 100b, 100c, and 100v coming into contact with other objects when the wheel 190 deviates from the drum 91 can be further reduced.

[0098] (H2) After the vehicles 100, 100b, 100c, and 100v have stopped, the control units 115v, 212, and 212a may set the shift position of the electric shifters provided in the vehicles 100, 100b, 100c, and 100v to the parking range. In this configuration, the control units 115v, 212, and 212a can bring the vehicles 100, 100b, 100c, and 100v to a complete stop. This makes it possible to more reliably reduce the possibility that the vehicles 100, 100b, 100c, and 100v will come into contact with other objects if the wheels 190 deviate from the drum 91.

[0099] (H3) The control units 115v, 212, and 212a may activate the parking brakes provided on vehicles 100, 100b, 100c, and 100v after the vehicles have come to a complete stop. In this configuration, the control units 115v, 212, and 212a can bring the vehicles 100, 100b, 100c, and 100v to a complete stop. This makes it possible to more reliably reduce the possibility of vehicles 100, 100b, 100c, and 100v coming into contact with other objects if the wheels 190 deviate from the drum 91.

[0100] (H4) If it is detected that the wheel 190 has deviated from the drum 91, the control units 115v, 212, and 212a may activate the regenerative brake to decelerate or stop the vehicles 100, 100b, 100c, and 100v. In this configuration, the vehicles 100, 100b, 100c, and 100v can be decelerated or stopped by activating the regenerative brake instead of a braking device such as a disc brake. Furthermore, by activating the regenerative brake in addition to a braking device such as a disc brake, the vehicles 100, 100b, 100c, and 100v can be decelerated or stopped more reliably. This makes it possible to more reliably reduce the possibility that the vehicles 100, 100b, 100c, and 100v will come into contact with other objects when the wheel 190 deviates from the drum 91.

[0101] (H5) A drum 91 may be provided for each of the multiple wheels 190 located along the left-right direction D2 of the vehicles 100, 100b, 100c, and 100v. For example, if the vehicles 100, 100b, 100c, and 100v are four-wheeled vehicles, the inspection equipment 900, 900c, and 900d may have the following configuration: The inspection equipment 900, 900c, and 900d may have one front drum unit supporting the left front wheel and the right front wheel of the vehicles 100, 100b, 100c, and 100v, and one rear drum unit supporting the left rear wheel and the right rear wheel of the vehicles 100, 100b, 100c, and 100v. The inspection equipment 900, 900c, and 900d may have one front drum unit supporting the left front wheel and the right front wheel of the vehicle 100, 100b, 100c, and 100v, and one rear single drum supporting the left rear wheel and the right rear wheel of the vehicle 100, 100b, 100c, and 100v. Thus, the configuration of the number and arrangement of drums 91 in the inspection equipment 900, 900c, and 900d is not limited to the above.

[0102] (H6) Vehicle inspection systems 50, 50a~50e, 50v may be used for purposes other than new vehicle inspections of vehicles 100, 100b, 100c, and 100v. For example, vehicle inspection systems 50, 50a~50e, 50v may be used for the continuing inspection of vehicles 100, 100b, 100c, and 100v as stipulated in the Road Transport Vehicle Act. A continuing inspection is an inspection conducted to allow continued use of vehicles 100, 100b, 100c, and 100v after the expiration of the validity period of the vehicle inspection certificate. Vehicle inspection systems 50, 50a~50e, 50v may also be used for periodic inspections as stipulated in the Road Transport Vehicle Act. A periodic inspection is an inspection that users of vehicles 100, 100b, 100c, and 100v are required to perform periodically. Periodic inspections are also called statutory inspections. Even in this configuration, if it is detected that the wheel 190 has deviated from the drum 91, the vehicle inspection systems 50, 50a to 50e, and 50v can decelerate the vehicles 100, 100b, 100c, and 100v. This reduces the possibility that the vehicles 100, 100b, 100c, and 100v may come into contact with other objects if the wheel 190 deviates from the drum 91.

[0103] (H7) At least some functions of servers 200, 200a to 200e may be functions of vehicle control devices 110, 110v, inspection equipment 900, 900c, 900d, or external sensors 300 or detection sensors 700. Also, at least some functions of vehicle control devices 110, 110v may be functions of servers 200, 200a to 200e, inspection equipment 900, 900c, 900d, or external sensors 300 or detection sensors 700. In this configuration, the configuration of vehicle inspection systems 50, 50a to 50e, 50v can be changed as appropriate.

[0104] (H8) In each of the above embodiments, the external sensor 300 is not limited to a camera, but may be, for example, a distance measuring device. The distance measuring device may be, for example, LiDAR (Light Detection And Ranging). In this case, the detection result output by the external sensor 300 may be 3D point cloud data representing vehicles 100, 100b, 100c, and 100v. In this case, the servers 200, 200a to 200e and the vehicles 100, 100b, 100c, and 100v may acquire vehicle position information by template matching using the 3D point cloud data as a detection result and pre-prepared reference point cloud data.

[0105] (H9) In each of the embodiments from the first to the sixth embodiment described above, the servers 200, 200a to 200e perform the processing from acquiring vehicle position information to generating driving control signals. In contrast, vehicles 100, 100b, and 100c may perform at least a part of the processing from acquiring vehicle position information to generating driving control signals. For example, the following forms (1) to (3) may also be used.

[0106] (1) Servers 200, 200a to 200e may acquire vehicle location information, determine the next target location that vehicles 100, 100b, and 100c should head to, and generate a route from the current location of vehicles 100, 100b, and 100c, as shown in the acquired vehicle location information, to the target location. Servers 200, 200a to 200e may generate a route from the current location to the target location, or a route to the destination. Servers 200, 200a to 200e may transmit the generated route to vehicles 100, 100b, and 100c. Vehicles 100, 100b, and 100c may generate a driving control signal so that vehicles 100, 100b, and 100c travel along the route received from servers 200, 200a to 200e, and may use the generated driving control signal to control the actuator group 120.

[0107] (2) Servers 200, 200a to 200e may acquire vehicle location information and transmit the acquired vehicle location information to vehicles 100, 100b, and 100c. Vehicles 100, 100b, and 100c may determine the target location to which they should next go, generate a route from the current location of vehicles 100, 100b, and 100c as shown in the received vehicle location information to the target location, generate a driving control signal so that vehicles 100, 100b, and 100c travel along the generated route, and use the generated driving control signal to control the actuator group 120.

[0108] (3) In the embodiments of (1) and (2) above, internal sensors are installed in vehicles 100, 100b, and 100c, and detection results output from the internal sensors may be used in at least one of the generation of a route and the generation of a driving control signal. The internal sensors are sensors installed in vehicles 100, 100b, and 100c. The internal sensors may include, for example, sensors that detect the motion state of vehicles 100, 100b, and 100c, sensors that detect the operating state of each part of vehicles 100, 100b, and 100c, and sensors that detect the environment around vehicles 100, 100b, and 100c. Specifically, the internal sensors may include, for example, cameras, LiDAR, millimeter-wave radar, ultrasonic sensors, GPS sensors, acceleration sensors 140, and gyro sensors. For example, in the embodiment of (1) above, servers 200, 200a to 200e may acquire detection results from the internal sensors and reflect the detection results from the internal sensors in the route when generating a route. In the embodiment of (1) above, vehicles 100, 100b, and 100c may acquire detection results from internal sensors and reflect the detection results from internal sensors in the driving control signal when generating a driving control signal. In the embodiment of (2) above, vehicles 100, 100b, and 100c may acquire detection results from internal sensors and reflect the detection results from internal sensors in the route when generating a route. In the embodiment of (2) above, vehicles 100, 100b, and 100c may acquire detection results from internal sensors and reflect the detection results from internal sensors in the driving control signal when generating a driving control signal.

[0109] (H10) In the seventh embodiment described above, the vehicle 100v is equipped with an internal sensor, and the detection result output from the internal sensor may be used in at least one of the generation of the route and the generation of the driving control signal. For example, the vehicle 100v may acquire the detection result from the internal sensor and reflect the detection result from the internal sensor in the route when generating the route. The vehicle 100v may acquire the detection result from the internal sensor and reflect the detection result from the internal sensor in the driving control signal when generating the driving control signal.

[0110] (H11) In the seventh embodiment described above, 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, which may acquire vehicle position information using the detection results of the internal sensor, determine the next target location to which the vehicle 100v should go, generate a route from the vehicle 100v's current location to the target location as shown in the acquired vehicle position information, 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 the detection results of the external sensor 300 at all. The vehicle 100v may also acquire target arrival time and congestion information from outside the vehicle 100v and reflect the target arrival time and congestion information in at least one of the route and the driving control signal. Furthermore, all the functional configurations of the vehicle inspection system 50v may be provided in the vehicle 100v. That is, the processing realized by the vehicle inspection system 50v in this disclosure may be realized by the vehicle 100v alone.

[0111] (H12) In each of the embodiments from the first to the sixth embodiment described above, servers 200, 200a to 200e automatically generate driving control signals to be transmitted to vehicles 100, 100b, and 100c. Alternatively, servers 200, 200a to 200e may generate driving control signals to be transmitted to vehicles 100, 100b, and 100c in accordance with the operations of an external operator located outside the vehicles 100, 100b, and 100c. For example, an external operator may operate a control device that includes a display for displaying captured images output from an external sensor 300, a steering wheel for remotely controlling vehicles 100, 100b, and 100c, an accelerator pedal, a brake pedal, and a communication device for communicating with servers 200, 200a to 200e via wired or wireless communication, and servers 200, 200a to 200e may generate driving control signals in accordance with the operations applied to the control device.

[0112] (H13) In each of the above embodiments, the vehicles 100, 100b, 100c, and 100v only need to be configured to be movable by unmanned operation, and may take the form of a platform having the configuration described below. Specifically, in order for the vehicles 100, 100b, 100c, and 100v to perform the three functions of "driving," "turning," and "stopping" by unmanned operation, they only need to be equipped with at least a vehicle control device 110, 110v and an actuator group 120. When the vehicles 100, 100b, 100c, and 100v acquire information from the outside for unmanned operation, the vehicles 100, 100b, 100c, and 100v may further be equipped with a communication device 130. In other words, vehicles 100, 100b, 100c, and 100v that can be moved by unmanned operation do not need to have at least some of the interior parts such as the driver's seat and dashboard installed, at least some of the exterior parts such as the bumper and fenders installed, and do not need to have a body shell installed. In this case, the remaining parts such as the body shell may be installed on vehicles 100, 100b, 100c, and 100v before they are shipped from the factory FC, or the remaining parts such as the body shell may be installed on vehicles 100, 100b, 100c, and 100v after they have been shipped from the factory FC while the remaining parts such as the body shell are not installed on them. Each component may be mounted on the vehicles 100, 100b, 100c, and 100v from any direction, such as the top, bottom, front, rear, right, or left side. They may be mounted from the same direction or from different directions. The positioning of the components on the platform can also be determined in the same way as that of the vehicles 100, 100b, 100c, and 100v in the first embodiment.

[0113] (H14) Vehicles 100, 100b, 100c, and 100v may be manufactured by combining multiple modules. A module means a unit composed of one or more parts grouped together according to the configuration and function of vehicle 100, 100b, 100c, and 100v. For example, the platform of vehicle 100, 100b, 100c, and 100v may be manufactured by combining a front module that constitutes the front part of the platform, a central module that constitutes the middle part of the platform, and a rear module that constitutes the rear part of the platform. The number of modules that constitute the platform is not limited to three, and may be two or fewer, or four or more. In addition to the platform, or in place of the platform, parts of vehicle 100, 100b, 100c, and 100v that are different from the platform may be modularized. Furthermore, various modules may include any exterior parts such as bumpers and grilles, or any interior parts such as seats and consoles. Furthermore, not limited to vehicles 100, 100b, 100c, and 100v, any type of mobile body may be manufactured by combining multiple modules. Such modules may be manufactured, for example, by joining multiple parts by welding or fasteners, or by integrally molding at least a part of the module as a single part by casting. The molding method of integrally molding at least a part of a module as a single part is also called Gigacast or Megacast. By using Gigacast, each part of the mobile body that was conventionally formed by joining multiple parts can be formed as a single part. For example, the front module, central module, and rear module mentioned above may be manufactured using Gigacast.

[0114] (H15) Transporting vehicles 100, 100b, 100c, and 100v using unmanned operation is also called "self-propelled transport." The configuration for realizing self-propelled transport is also called a "vehicle remote control autonomous driving transport system." Furthermore, a production method that uses self-propelled transport to produce vehicles 100, 100b, 100c, and 100v is also called "self-propelled production." In self-propelled production, for example, in a factory cluster (FC) that manufactures vehicles 100, 100b, 100c, and 100v, at least a portion of the transport of vehicles 100, 100b, 100c, and 100v is realized by self-propelled transport.

[0115] (H16) In each of the above embodiments, some or all of the functions and processes implemented in software may be implemented in hardware. Also, some or all of the functions and processes implemented in hardware may be implemented in software. As hardware for implementing the various functions in each of the above embodiments, various circuits such as integrated circuits and discrete circuits may be used.

[0116] This disclosure is not limited to the embodiments described above, and can be implemented in various configurations without departing from its spirit. For example, the technical features of the embodiments corresponding to the technical features in each form described in the summary of the invention can be replaced or combined as appropriate in order to solve some or all of the above-described problems, or to 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 deleted as appropriate. [Explanation of Symbols]

[0117] 50, 50a~50e, 50v…Vehicle inspection system, 91…Drum, 92…Motor, 93…Peripheral speed sensor, 96…Laser sensor, 97…Photoelectric sensor, 99…Inspection equipment communication device, 100, 100b, 100c, 100v…Vehicle, 101…Positioning point, 110, 110v…Vehicle control device, 111, 111v…Vehicle control device processor, 112, 112v…Vehicle control device memory, 113…Vehicle control device input / output interface, 114…Vehicle control device internal bus, 115, 115v…Vehicle control unit, 116, 211, 211b~211e…Detection unit, 120…Actuator group, 130…Vehicle communication device, 140…Accelerometer, 150…Steering angle sensor, 190…Wheel, 200, 200a ~200e…Server, 201,201a~201e…Processor, 202,202a~202e…Memory, 203…Server input / output interface, 204…Server internal bus, 205…Server communication device, 212,212a…Remote control unit, 213…Acquisition unit, 300…External sensor, 700…Detection sensor, 900,900c,900d…Inspection equipment, 910…Drum unit, 911…Main drum, 912…Sub-drum, 913…Single drum, B…Light ray, D1…Front / back direction, D2…Left / right direction, D3…Up / down direction, DM…Detection model, FC…Factory, GC…Global coordinate system, PG1,PG2…Program, PL1…First location, PL2…Second location, RA…Detection range, RR…Reference path, TR…Track

Claims

1. It is a vehicle inspection system, Vehicles that can be driven without a driver, An inspection device having a drum that rotates while supporting the wheels of the vehicle, A sensor that outputs sensor information for detecting when the wheel deviates from the drum, A detection unit that uses the sensor information to detect when the wheel deviates from the drum, A vehicle inspection system comprising: a control unit that increases the braking force of the vehicle when it is detected that the wheel has deviated from the drum.

2. A vehicle inspection system according to claim 1, further, The vehicle is equipped with an acquisition unit that acquires information regarding the weight of the vehicle. A vehicle inspection system in which the control unit sets the braking force generated when the wheels deviate from the drum to be greater the greater the weight of the vehicle.

3. A vehicle inspection system according to claim 1, The sensor includes an acceleration sensor that measures the acceleration of the vehicle and outputs the acceleration as sensor information. The detection unit is a vehicle inspection system that uses the acceleration to detect when the wheel deviates from the drum.

4. A vehicle inspection system according to claim 1, The sensor includes a steering angle sensor that measures the actual steering angle of the vehicle and outputs the actual steering angle as sensor information. The detection unit is a vehicle inspection system that uses the actual steering angle to detect when the wheel deviates from the drum.

5. A vehicle inspection system according to claim 1, The sensor includes a laser sensor that detects when an object enters a predetermined detection range and outputs the detection result as sensor information. The detection unit is a vehicle inspection system that uses the detection result to detect that the wheel has deviated from the drum.

6. A vehicle inspection system according to claim 1, The sensor includes a photoelectric sensor that detects the presence of an object on a light ray by irradiating it at a predetermined position and outputs the detection result as sensor information. The detection unit is a vehicle inspection system that uses the detection result to detect that the wheel has deviated from the drum.

7. A vehicle inspection system according to claim 1, The sensor includes a sensor that outputs sensor information capable of acquiring the position of the vehicle, The detection unit is a vehicle inspection system that detects when the wheels have deviated from the drum using the position of the vehicle obtained using the sensor information.

8. A vehicle inspection system according to claim 1, The system includes multiple of the aforementioned sensors, The detection unit is a vehicle inspection system that detects when a wheel deviates from the drum using the sensor information output from each of the plurality of sensors.

9. A control method, A detection step in which a wheel of a vehicle capable of autonomous operation deviates from a rotating drum that supports the wheel, using sensor information output from a sensor, A control method comprising: a control step of increasing the braking force of the vehicle when it is detected that the wheel has deviated from the drum.

Images