Control system and control method

Abstract

This technology provides a way to prevent the inside of a mobile vehicle from becoming flooded with water during the manufacturing process in which the mobile vehicle is exposed to water, by keeping the equipment in an open state. [Solution] The control system comprises a mobile body equipped with a device whose open / closed state can be changed, the device separating the inside and outside of the mobile body in the closed state; an acquisition unit that acquires process information indicating a manufacturing process to be performed on the mobile body; and a control unit that controls the open / closed state of the device so that the open / closed state of the device becomes the closed state during a specific manufacturing process when the manufacturing process identified by the process information includes a specific manufacturing process in which water may come into contact with the mobile body.

Description

Technical Field

[0001] The present disclosure relates to a control system and a control method.

Background Art

[0002] Conventionally, vehicles equipped with various equipment items whose opening and closing states can be changed, such as windows, doors, trunk lids, roofs, etc., 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] In a work process in which a moving body such as a vehicle is splashed with a liquid such as water, when the opening and closing state of the equipment item is in the open state, there is a risk that the inside of the moving body will be flooded with water.

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 control system is provided. The control system controls the open / closed state of equipment mounted on a mobile body and whose open / closed state can be changed, wherein the equipment separates the inside and outside of the mobile body in a closed state, and the control system comprises: an acquisition unit that acquires process information indicating a work process to be performed on the mobile body; and a control unit that controls the open / closed state of the equipment such that the open / closed state of the equipment becomes the closed state during a specific work process in which the work process identified by the process information may come into contact with liquid on the mobile body. According to this embodiment, the control system can close the open / closed state of equipment mounted on a mobile body during a work process in which liquid may come into contact with the mobile body. This prevents the inside of the mobile body from becoming flooded. (2) In the above configuration, the acquisition unit may further acquire open / closed information indicating the open / closed state of the equipment, and the control unit may change the open / closed state of the equipment from the open state to the closed state when the open / closed state of the equipment identified by the open / closed information is in the open state. In this configuration, the control system can change the open / closed state of the equipment from the open state to the closed state so that the open / closed state of the equipment is in the closed state during work processes in which liquid may come into contact with the moving body. (3) In the above configuration, the acquisition unit further acquires open / closed information indicating the open / closed state of the equipment at a time after the control unit has transmitted a control signal to set the open / closed state of the equipment to the closed state, and the control system further includes a notification unit that notifies the user of error information if the open / closed state of the equipment, as identified by the open / closed information at a later time, is in the open state. In this configuration, the control system can confirm that the open / closed state of the equipment is in the closed state after the control unit has transmitted a control signal to set the open / closed state of the equipment to the closed state. Furthermore, the control system can notify the user of error information if the open / closed state of the equipment is in the open state even after the control unit has transmitted a control signal to set the open / closed state of the equipment to the closed state. This makes it possible to prompt the user to take measures to set the open / closed state of the equipment to the closed state, or to avoid performing work processes that may cause liquid to come into contact with the mobile body while the open / closed state of the equipment is in the open state. Thus, it is possible to more reliably prevent the inside of the mobile body from being flooded. (4) In the above configuration, the acquisition unit may further acquire open / closed information indicating the open / closed state of the equipment at a time after the control unit has transmitted a control signal to set the open / closed state of the equipment to the closed state, and if the open / closed state of the equipment identified by the open / closed information at a later time is in the open state, the control unit may stop the operation of the transport equipment that transports the mobile body toward the location where the specific work process is performed. In this configuration, the control system can confirm that the open / closed state of the equipment is in the closed state after the control unit has transmitted a control signal to set the open / closed state of the equipment to the closed state. Furthermore, the control system can stop the operation of the transport equipment if the open / closed state of the equipment is in the open state even after the control unit has transmitted a control signal to set the open / closed state of the equipment to the closed state. This makes it possible to avoid work processes that may cause liquid to come into contact with the mobile body while the open / closed state of the equipment is in the open state. Thus, it is possible to more reliably prevent the inside of the mobile body from becoming flooded. (5) In the above configuration, the mobile body is capable of moving by unmanned operation, and the acquisition unit further acquires open / closed information indicating the open / closed state of the equipment at a time after the control unit has transmitted a control signal to set the open / closed state of the equipment to the closed state, and if the open / closed state of the equipment identified by the open / closed information at a later time is in the open state, the control unit may stop the operation of the mobile body moving by unmanned operation toward the location where the specific work process is to be performed. In this configuration, the control system can confirm that the open / closed state of the equipment is in the closed state after the control unit has transmitted a control signal to set the open / closed state of the equipment to the closed state. Furthermore, if the open / closed state of the equipment is in the open state even after the control unit has transmitted a control signal to set the open / closed state of the equipment to the closed state, the control system can do the following: The control system can stop the operation of the mobile body moving by unmanned operation toward a work process where liquid may come into contact with the mobile body. This makes it possible to avoid a work process where liquid may come into contact with the mobile body being performed while the open / closed state of the equipment is in the open state. Thus, it is possible to more reliably prevent the inside of the mobile body from becoming flooded. (6) In the above configuration, the system may further include a detection unit that uses communication within the mobile body to detect the open / closed state of the equipment and outputs the open / closed information. In this configuration, the control system can detect the open / closed state of the equipment using communication within the mobile body. (7) The above configuration may further include a sensor that detects the moving body from outside the moving body, and a detection unit that uses the detection result of the sensor to detect the open / closed state of the equipment and output the open / closed information. In this configuration, the control system can detect the open / closed state of the equipment from outside the moving body using the sensor. (8) In the above configuration, the acquisition unit may acquire the process information by utilizing communication between the mobile body and equipment installed at the location where the work process is performed. In this configuration, the control system can acquire the process information by utilizing communication between the mobile body and equipment installed at the location where the work process is performed. (9) In the above configuration, the control unit may further include a memory for storing a database indicating the specific work process, and if the work process identified by the process information is included in the database, the control unit may determine that the work process included in the database is the specific work process. In this configuration, the control system can easily determine, using the database, whether the work process identified by the process information includes the specific work process. This allows the control system to easily determine whether the open / closed state of the equipment should be set to the closed state. (10) In the above configuration, the acquisition unit may further acquire time information indicating the time required to change the open / closed state of the equipment from the open state to the closed state, and the control unit may use the time information to start controlling the equipment so that the open / closed state of the equipment becomes the closed state before the specific work process is started. In this configuration, the control system can set the open / closed state of the equipment to the closed state before a work process is started in which liquid may come into contact with the mobile body. Thus, it is possible to more reliably prevent the inside of the mobile body from becoming flooded. (11) In the above configuration, the specific work step may be a liquid leak inspection step that checks whether the liquid penetrates into the mobile body when the liquid is sprayed onto the mobile body. In this configuration, in the liquid leak inspection step, it is possible to prevent the liquid sprayed onto the mobile body from penetrating into the mobile body and causing the mobile body to become soaked. (12) In the above configuration, the specific work step may be the work step in which the mobile body moves outdoors. In this configuration, during the work step in which the mobile body moves outdoors, it is possible to prevent rain or snow from falling into the mobile body and flooding the inside of the mobile body. (13) In the above configuration, the specific work step may be a cleaning step for cleaning the body of the mobile body. In this configuration, it is possible to prevent the liquid used to clean the mobile body from penetrating into the mobile body and causing the inside of the mobile body to become flooded with water during the cleaning step. (14) In the above configuration, the equipment may be at least one of a window, a door, a trunk lid, a hood, or a roof. In this configuration, in work processes where liquid may come into contact with the moving body, the opening or closing state of at least one of the windows, doors, trunk lid, hood, or roof can be kept open, thereby preventing the inside of the moving body from becoming flooded. (15) According to another embodiment of the present disclosure, a control method is provided for controlling the open / closed state of equipment mounted on a mobile body and whose open / closed state can be changed, wherein the equipment separates the inside and outside of the mobile body in a closed state, and the control method comprises: an acquisition step of acquiring process information indicating a work process to be performed on the mobile body; and a control step of controlling the open / closed state of the equipment such that the open / closed state of the equipment is in a closed state during a particular work process in which the work process identified by the process information may involve liquid coming into contact with the mobile body. According to this embodiment, by performing the acquisition step and the control step, the open / closed state of equipment mounted on a mobile body can be closed during a work process in which liquid may come into contact with the mobile body, thereby preventing the inside of the mobile body from being flooded. This disclosure can be implemented in various forms other than the control system and control method described above. For example, it can be implemented in the form of a method for manufacturing a control system, a computer program that implements a control method for a control system, or 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 control system in the first embodiment. [Figure 2] A block diagram showing the configuration of the control system in the first embodiment. [Figure 3] A flowchart illustrating the processing procedure for vehicle driving control in the first embodiment. [Figure 4] A flowchart illustrating an example of how to control equipment. [Figure 5]Flowchart showing details of the acquisition process in the first embodiment. [Figure 6] Flowchart showing details of the control process in the first embodiment. [Figure 7] Block diagram showing the configuration of the control system in the second embodiment. [Figure 8] Flowchart showing details of the control process in the second embodiment. [Figure 9] Block diagram showing the configuration of the control system in the third embodiment. [Figure 10] Flowchart showing details of the control process in the third embodiment. [Figure 11] Block diagram showing the configuration of the control system in the fourth embodiment. [Figure 12] Flowchart showing another example of the control method for equipment. [Figure 13] Flowchart showing details of the confirmation process in the fourth embodiment. [Figure 14] Block diagram showing the configuration of the control system in the fifth embodiment. [Figure 15] Flowchart showing details of the confirmation process in the fifth embodiment. [Figure 16] Block diagram showing the configuration of the control system in the sixth embodiment. [Figure 17] Flowchart showing details of the confirmation process in the sixth embodiment. [Figure 18] Block diagram showing the configuration of the control system in the seventh embodiment. [Figure 19] Flowchart showing details of the control process in the seventh embodiment. [Figure 20] Explanatory diagram showing the schematic configuration of the control system in the eighth embodiment. [Figure 21] Flowchart showing the processing procedure of vehicle driving control in the eighth embodiment.

Embodiments for Carrying Out the Invention

[0008] A. First Embodiment: Figure 1 is a conceptual diagram showing the configuration of the control system 50 in the first embodiment. The control system 50 comprises one or more vehicles 100 as mobile entities, a server 200, and one or more external sensors 300.

[0009] In this disclosure, “mobile object” means an object that can move, such as a vehicle or an electric vertical take-off and landing aircraft (so-called flying car). A vehicle may be a wheeled vehicle or a tracked vehicle, such as a passenger car, truck, bus, motorcycle, car, or construction vehicle. Vehicles include electric vehicles (BEVs: Battery Electric Vehicles), gasoline vehicles, hybrid vehicles, and fuel cell vehicles. If the mobile object is not a vehicle, the terms “vehicle” and “car” in this disclosure may be replaced with “mobile object” as appropriate, and the term “driving” may be replaced with “moving” as appropriate.

[0010] Vehicle 100 is configured to operate autonomously. "Autonomous operation" means operation without the operation of a passenger. Operation refers to operations related to at least one of the following: "going," "turning," or "stopping" of vehicle 100. Autonomous operation is achieved by automatic or manual remote control using a device located outside vehicle 100, or by autonomous control of vehicle 100. Vehicle 100 operating autonomously may have passengers on board who do not perform operation. Passengers who do not perform operation include, for example, people simply sitting in the seats of vehicle 100, or people performing tasks other than operation, such as assembly, inspection, or operating switches, while on board vehicle 100. Operation by a passenger is sometimes called "manned operation."

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

[0012] In this embodiment, the control system 50 is used in a factory FC that manufactures a vehicle 100 by performing multiple manufacturing processes. 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 X, Y, Z coordinates in the global coordinate system GC. The factory FC comprises a first location PL1 and a second location PL2. At each location PL1 and PL2, one or more actual processes are performed, such as a painting process, an assembly process, and an inspection process, among multiple manufacturing processes. The first location PL1 and the second location PL2 are connected by a track TR on which the vehicle 100 can travel. On the track TR, a transport process is performed, among multiple manufacturing processes, to transport the vehicle 100 from the first location PL1 to the second location PL2. Multiple external sensors 300 are installed in the factory FC along the track TR. The positions of each external sensor 300 in the factory FC are pre-adjusted. The vehicle 100 moves from the first location PL1 to the second location PL2 via the track TR by unmanned operation. The configuration of the factory fuel cell (FC) is not limited to the above. At least one of the first location PL1 and the second location PL2 may be, for example, a storage area for storing vehicles 100, such as a yard.

[0013] Figure 2 is a block diagram showing the configuration of the control 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. The actuator group 120 includes an actuator for a drive system to accelerate the vehicle 100, an actuator for a steering system to change the direction of travel of the vehicle 100, and an actuator for a braking system to decelerate the vehicle 100.

[0014] Furthermore, the vehicle 100 is equipped with a piece of equipment 140 whose open / closed state can be changed, and which separates the inside and outside of the vehicle 100 when closed. Accordingly, the actuator group 120 further includes a specific actuator for changing the open / closed state of the piece of equipment 140. The piece of equipment 140 is, for example, a door that separates the inside and outside of the vehicle, such as a front door or a rear door. The piece of equipment 140 may also be a door that separates the inside and outside of the cargo area, such as a back door, a trunk lid that separates the inside and outside of the trunk compartment, a hood that separates the inside and outside of the engine compartment, or a roof that separates the inside and outside of the vehicle, such as a sunroof or moonroof. Note that the vehicle 100 may be equipped with other pieces of equipment 140 besides those mentioned above.

[0015] 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.

[0016] 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.

[0017] Furthermore, the vehicle control unit 115 changes the open / closed state of the equipment 140 by controlling a specific actuator using the equipment control signal received from the server 200. The equipment control signal is a control signal for changing the open / closed state of the equipment 140. In this embodiment, the equipment 140 to be controlled is a power window whose open / closed state can be changed by external electrical control. Therefore, when the vehicle control unit 115 receives an equipment control signal from the server 200 to close the power window, it uses the received equipment control signal to control a specific actuator for changing the open / closed state of the power window. As a result, the vehicle control unit 115 closes the power window.

[0018] 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 an acquisition unit 211 and a remote control unit 212, by executing a program PG2 stored in memory 202.

[0019] The acquisition unit 211 acquires process information indicating the manufacturing process to be executed on the vehicle 100. The acquisition unit 211 acquires process information by, for example, using communication between the vehicle 100 and manufacturing equipment 400, such as shower testers, installed at each location PL1, PL2 where the manufacturing process is executed. In this case, for example, the vehicle 100 acquires equipment identification information that identifies the manufacturing equipment 400 from the manufacturing equipment 400 installed around the vehicle 100's current location. The vehicle 100 then transmits the equipment identification information acquired from the manufacturing equipment 400 to the server 200. Based on the equipment identification information, the acquisition unit 211 identifies at least one of the manufacturing process that was immediately executed on the vehicle 100, the manufacturing process that is currently being executed on the vehicle 100, and the manufacturing process that will be executed next on the vehicle 100. The acquisition unit 211 then acquires process information by identifying the manufacturing process that will be executed after the manufacturing process that is currently being executed on the vehicle 100, based on a predetermined execution order of the multiple manufacturing processes.

[0020] The method for acquiring process information is not limited to the above. The acquisition unit 211 may acquire process information using communication between the vehicle 100 and the manufacturing equipment 400 as follows. For example, the vehicle 100 receives radio waves emitted from transmitters of the manufacturing equipment 400 installed around the vehicle 100's current location, with each piece of manufacturing equipment 400 having a different frequency. The vehicle 100 then transmits frequency information indicating the frequency of the radio waves received from the manufacturing equipment 400 to the server 200. Based on the frequency information, the acquisition unit 211 identifies at least one of the manufacturing process immediately executed on the vehicle 100, the manufacturing process currently being executed on the vehicle 100, and the manufacturing process to be executed next on the vehicle 100. The acquisition unit 211 then acquires process information by identifying the manufacturing process to be executed after the currently executed manufacturing process on the vehicle 100, based on the execution order of the multiple manufacturing processes.

[0021] Furthermore, the acquisition unit 211 may acquire process information using vehicle position information. In this case, for example, the acquisition unit 211 identifies the manufacturing process currently being executed for vehicle 100 by comparing the position of vehicle 100 in the global coordinate system GC with a map representing the positions of each location PL1, PL2, and TR within the factory FC using the global coordinate system GC. Then, based on the execution order of multiple manufacturing processes, the acquisition unit 211 acquires process information by identifying the manufacturing process to be executed after the manufacturing process currently being executed for vehicle 100.

[0022] Alternatively, the acquisition unit 211 may acquire process information using the production management information of the vehicle 100. Production management information is, for example, information indicating the scheduled start time of each manufacturing process for each vehicle 100. In this case, for example, the acquisition unit 211 acquires vehicle identification information from the vehicle 100, such as the VIN number, to identify the vehicle 100. Then, based on the current time, the acquisition unit 211 identifies the manufacturing process currently being executed for the vehicle 100 from the production management information. Then, based on the execution order of multiple manufacturing processes, the acquisition unit 211 acquires process information by identifying the manufacturing process to be executed after the manufacturing process currently being executed for the vehicle 100.

[0023] The remote control unit 212 acquires detection results from the sensors, 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.

[0024] Furthermore, if the manufacturing process identified by the process information includes a specific manufacturing process in which water may come into contact with the vehicle 100, the remote control unit 212 controls the open / closed state of the equipment 140 so that the open / closed state of the equipment 140 is closed during the specific manufacturing process. The specific manufacturing process is, for example, a water leak inspection process that checks whether water enters the vehicle 100 when water is poured on it. The specific manufacturing process may also be a manufacturing process in which the vehicle 100 is driven outdoors, or a washing process that washes the body of the vehicle 100. In this embodiment, if the manufacturing process identified by the process information is included in a database DB pre-stored in the memory 202 and is a database DB indicating a specific manufacturing process, the remote control unit 212 makes the following determination. In this case, the remote control unit 212 determines that the manufacturing process included in the database DB is a specific manufacturing process. Then, regardless of the open / closed state of the power window, the remote control unit 212 generates an equipment control signal to close the power window during the specific manufacturing process and transmits the equipment control signal to the vehicle 100. As a result, the remote control unit 212 remotely controls the power window to close. Note that the method for determining a specific manufacturing process is not limited to the above.

[0025] 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.

[0026] 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.

[0027] Figure 3 is a flowchart showing the processing procedure for vehicle 100 driving control in the first embodiment. In the processing procedure shown in Figure 3, 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.

[0028] 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.

[0029] In detail, in step S1, the processor 201 detects the outline of the vehicle 100 from the captured image, calculates the coordinates of the vehicle 100's positioning point 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 control system 50 and pre-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.

[0030] 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.

[0031] 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.

[0032] 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.

[0033] 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 control system 50 in 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.

[0034] Figure 4 is a flowchart illustrating an example of a control method for equipment 140. In the control method shown in Figure 4, the acquisition step S100 and the control step S200 are executed in this order. The acquisition step is the process of acquiring process information. The control step is the process of controlling the open / closed state of equipment 140 so that the open / closed state of equipment 140 becomes the closed state in a specific manufacturing process. The flow shown in Figure 4 is executed repeatedly at a predetermined time interval, for example, from the time when the manufacturing of vehicle 100 begins.

[0035] Figure 5 is a flowchart detailing the acquisition process in the first embodiment. The flow shown in Figure 5 is initiated, for example, when a predetermined time has elapsed since the previous execution timing. In step S111, the vehicle 100 sends a request signal to the manufacturing equipment 400 to acquire equipment identification information. Upon receiving the request signal, the manufacturing equipment 400 sends equipment identification information representing itself to the vehicle 100 in step S112. In step S113, the vehicle 100 sends the equipment identification information received from the manufacturing equipment 400 to the server 200. In step S114, the acquisition unit 211 of the server 200 identifies the manufacturing process currently being executed for the vehicle 100 based on the equipment identification information. In step S115, the acquisition unit 211 acquires process information by identifying the manufacturing process to be executed after the manufacturing process currently being executed for the vehicle 100, based on the execution order of multiple manufacturing processes.

[0036] Figure 6 is a flowchart detailing the control process in the first embodiment. The flow shown in Figure 6 starts, for example, when the acquisition of process information is complete. In step S211, the remote control unit 212 of the server 200 uses a database DB indicating a specific manufacturing process to determine whether the manufacturing process identified by the process information includes a specific manufacturing process. If the manufacturing process identified by the process information does not include a specific manufacturing process (step S212: No), the remote control unit 212 terminates this flow without controlling the open / closed state of the power window. If the manufacturing process identified by the process information includes a specific manufacturing process (step S212: Yes), step S213 is executed. In step S213, the remote control unit 212 generates an equipment control signal to close the power window in the specific manufacturing process. In step S214, the remote control unit 212 transmits the generated equipment control signal to the vehicle 100. The vehicle control unit 115 of the vehicle 100, which has received the equipment control signal, controls a specific actuator using the received equipment control signal in step S215. This causes the power window to be closed during certain manufacturing processes.

[0037] According to the first embodiment described above, the control system 50 can close the open / closed state of the equipment 140 mounted on the vehicle 100 during manufacturing processes where the vehicle 100 may be exposed to water, by executing the acquisition process and the control process in that order. This prevents the inside of the vehicle 100 from being flooded with water. In particular, when the vehicle 100 is running unmanned and there are no passengers in the vehicle 100, it may not be possible to notice that the open / closed state of the equipment 140 is in the open state when performing manufacturing processes where the vehicle 100 may be exposed to water. In contrast, according to the first embodiment described above, the control system 50 can automatically close the open / closed state of the equipment 140 by remote control. Therefore, even when there are no passengers in the vehicle 100, it is possible to prevent the inside of the vehicle 100 from being flooded with water due to the open / closed state of the equipment 140.

[0038] Furthermore, according to the first embodiment described above, the control system 50 can acquire process information by utilizing communication between the vehicle 100 and the manufacturing equipment 400.

[0039] Furthermore, according to the first embodiment described above, the control system 50 can easily determine, using the database DB, whether or not the manufacturing process identified by the process information includes a specific manufacturing process. This allows the control system 50 to easily determine whether or not the open / closed state of the equipment 140 should be set to the closed state.

[0040] Furthermore, according to the first embodiment described above, in the water leak inspection process, it is possible to prevent water sprayed onto the vehicle 100 from entering the vehicle 100 and flooding the inside of the vehicle 100.

[0041] Furthermore, according to the first embodiment described above, in a manufacturing process in which the vehicle 100 travels outdoors, it is possible to prevent rain or snow from entering the vehicle 100 and flooding the inside of the vehicle 100.

[0042] Furthermore, according to the first embodiment described above, in the cleaning process, it is possible to prevent the cleaning water used to clean the vehicle 100 from entering the vehicle 100 and flooding the inside of the vehicle 100.

[0043] Furthermore, according to the first embodiment described above, in a manufacturing process where the vehicle 100 may come into contact with water, the opening / closing state of at least one of the windows, doors, trunk lid, hood, and roof can be kept open, thereby preventing the interior of the vehicle 100 from becoming flooded.

[0044] B. Second Embodiment: Figure 7 is a block diagram showing the configuration of the control system 50a in the second embodiment. In this embodiment, the control system 50a controls the opening and closing state of the equipment 140 only when the equipment 140 is in the open state. 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.

[0045] The processor 111a of the vehicle control device 110a executes the program PG1 stored in the memory 112a, thereby realizing various functions, including those of the vehicle control unit 115 and the detection unit 116.

[0046] The detection unit 116 detects the open / closed state of the equipment 140 and outputs open / closed information indicating the open / closed state of the equipment 140. In this embodiment as well, the equipment 140 is a power window whose open / closed state can be changed by external electrical control. Therefore, the detection unit 116 detects the open / closed state of the equipment 140 by using communication within the vehicle 100a, such as CAN (Controller Area Network) communication.

[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 acquisition unit 211a and the remote control unit 212a.

[0048] In addition to process information, the acquisition unit 211a also acquires open / close information output from the detection unit 116.

[0049] If the manufacturing process identified by the process information includes a specific manufacturing process, and the open / closed state of the equipment 140 identified by the open / closed information is in the open state, the remote control unit 212a generates an equipment control signal and transmits the equipment control signal to the vehicle 100a. As a result, if the manufacturing process identified by the process information includes a specific manufacturing process, and the open / closed state of the equipment 140 identified by the open / closed information is in the open state, the remote control unit 212a changes the open / closed state of the equipment 140 from the open state to the closed state.

[0050] Figure 8 is a flowchart detailing the control process in the second embodiment. The flow shown in Figure 8 starts, for example, when the acquisition of process information is complete. In step S221, the remote control unit 212a of the server 200a uses a database DB indicating a specific manufacturing process to determine whether the manufacturing process identified by the process information includes a specific manufacturing process. If the manufacturing process identified by the process information does not include a specific manufacturing process (step S222: No), the remote control unit 212a terminates this flow without controlling the open / closed state of the power window. If the manufacturing process identified by the process information includes a specific manufacturing process (step S222: Yes), step S223 is executed. In step S223, the remote control unit 212a sends a detection start signal to the vehicle 100a to start detecting the open / closed state of the power window. Upon receiving the detection start signal, the detection unit 116 of the vehicle 100a detects the open / closed state of the power window in step S224 using communication within the vehicle 100a. In step S225, the detection unit 116 outputs open / closed information as a detection result to the server 200a. As a result, in step S226, the acquisition unit 211a of the server 200a acquires the open / closed information. If the open / closed state of the power window identified by the open / closed information is the closed state (step S227: No), the remote control unit 212a terminates this flow without controlling the open / closed state of the power window. That is, in this case, the remote control unit 212a maintains the open / closed state of the power window in the closed state. If the open / closed state of the power window identified by the open / closed information is the open state (step S227: Yes), step S228 is executed. In step S228, the remote control unit 212a generates an equipment control signal to close the open / closed state of the power window in a specific manufacturing process. In step S229, the remote control unit 212a transmits the generated equipment control signal to the vehicle 100a. Upon receiving the equipment control signal, the vehicle control unit 115 of vehicle 100a controls a specific actuator using the received equipment control signal in step S230. This changes the state of the power window from open to closed so that it is closed during a specific manufacturing process.

[0051] According to the second embodiment described above, in a manufacturing process where water may come into contact with the vehicle 100a, if the open / closed state of the equipment 140 is in the open state, the control system 50a can do the following: In a manufacturing process where water may come into contact with the vehicle 100a, the control system 50a can remotely control the open / closed state of the equipment 140 to automatically change it from the open state to the closed state.

[0052] Furthermore, according to the second embodiment described above, the control system 50a can detect the open / closed state of the equipment 140 by utilizing communication within the vehicle 100a via a communication line within the vehicle 100a.

[0053] Furthermore, the equipment 140 capable of detecting the open / closed state using communication within the vehicle 100a is not limited to power windows. The equipment 140 capable of detecting the open / closed state using communication within the vehicle 100a can be any equipment 140 whose open / closed state can be changed by external electrical control, such as a power door, an electric trunk lid, or an electric roof.

[0054] C. Third Embodiment: Figure 9 is a block diagram showing the configuration of the control system 50b in the third embodiment. In this embodiment, the type of equipment 140 to be controlled differs from that of the first embodiment. Specifically, in this embodiment, the equipment 140 to be controlled is a hood whose open / closed state can be changed by mechanical operation. The open / closed state of equipment 140, such as a hood, whose open / closed state can be changed by mechanical operation, may not be detectable using communication within the vehicle 100b. Therefore, in this embodiment, the control system 50b detects the open / closed state of equipment 140 without using communication within the vehicle 100b. Also, equipment 140, such as a hood, whose open / closed state can be changed by mechanical operation, may not be able to change its open / closed state by external electrical control. Therefore, in this embodiment, by notifying the user U that the open / closed state of equipment 140 is in the open state, the control system 50b changes the open / closed state of equipment 140 from the open state to the closed state. The other configurations are the same as in the first embodiment unless otherwise specified. Components identical to those in each of the above embodiments are denoted by the same reference numerals and their descriptions are omitted.

[0055] The processor 201b of server 200b executes the program PG2 stored in memory 202b, thereby realizing various functions including those of the detection unit 210, the acquisition unit 211a, and the remote control unit 212b.

[0056] The detection unit 210 detects the open / closed state of the equipment 140 without using communication within the vehicle 100b. In this embodiment, the detection unit 210 detects the open / closed state of the equipment 140 using the detection result of a camera acting as an external sensor 300. In this case, the detection of the open / closed state of the equipment 140 may be performed using a machine learning model, similar to the acquisition of vehicle position information. Note that the method for detecting the open / closed state of the equipment 140 is not limited to the above. The detection unit 210 may also detect the open / closed state of the equipment 140 using the detection result of an internal sensor mounted on another vehicle 100b different from the vehicle 100b being controlled.

[0057] The remote control unit 212b further notifies user U that the equipment 140 is in the open state if the manufacturing process identified by the process information includes a specific manufacturing process. At this time, the remote control unit 212b notifies user U via at least one of the following: the notification device 150 on the vehicle 100b, the notification device 250 on the server 200b, the notification device 550 on the mobile terminal 500 owned by user U, and the notification device 650 installed in the factory FC. The remote control unit 212b notifies user U that the equipment 140 is in the open state by, for example, sounding a horn mounted on the vehicle 100b that generates a warning sound. The remote control unit 212b may also notify user U that the equipment 140 is in the open state by turning on or flashing a lamp mounted on the vehicle 100b, or by swinging a wiper mounted on the vehicle 100b. Furthermore, the remote control unit 212b may notify user U that the equipment 140 is in the open state by displaying text information indicating that the equipment 140 is in the open state on the display of the server 200b or the mobile terminal 500, or on a monitor installed in the factory FC. The remote control unit 212b may also notify user U that the equipment 140 is in the open state by playing audio information indicating that the equipment 140 is in the open state from the speaker of the server 200b or the mobile terminal 500, or on a speaker installed in the factory FC. In this embodiment, the remote control unit 212b generates a notification control signal to sound the horn and transmits the notification control signal to the vehicle 100b, thereby sounding the horn via remote control. The notification control signal is a control signal for controlling the operation of the notification devices 150, 250, 550, and 650.

[0058] The processor 111b of the vehicle control device 110b implements various functions, including those of the vehicle control unit 115b, by executing the program PG1 stored in the memory 112b.

[0059] The vehicle control unit 115b further notifies the user U of various information by controlling the notification device 150 using the notification control signal received from the server 200b. In this embodiment, when the vehicle control unit 115b receives a notification control signal from the server 200b to sound the horn, it sounds the horn using the received notification control signal.

[0060] Figure 10 is a flowchart detailing the control process in the third embodiment. The flow shown in Figure 10 starts, for example, when the acquisition of process information is complete. In step S231, the remote control unit 212a of the server 200b uses a database DB indicating a specific manufacturing process to determine whether the manufacturing process identified by the process information includes a specific manufacturing process. If the manufacturing process identified by the process information does not include a specific manufacturing process (step S232: No), the remote control unit 212a terminates this flow without providing notification to control the opening and closing state of the hood. If the manufacturing process identified by the process information includes a specific manufacturing process (step S232: Yes), step S233 is executed. In step S233, the detection unit 210 of the server 200b sends a request signal to the camera, which acts as an external sensor 300, to acquire an image. Upon receiving the request signal, the external sensor 300 sends the image of the vehicle 100b to the server 200b in step S234. In step S235, the detection unit 210 of the server 200b, which acquired the captured image, detects the open / closed state of the equipment 140 by analyzing the captured image. In step S236, the detection unit 210 outputs open / closed information as a detection result. In step S237, the acquisition unit 211a of the server 200b acquires the open / closed information. If the open / closed state of the hood identified by the open / closed information is the closed state (step S238: No), the remote control unit 212b of the server 200b terminates this flow without providing notification to control the open / closed state of the hood. If the open / closed state of the hood identified by the open / closed information is the open state (step S238: Yes), step S239 is executed. In step S239, the remote control unit 212b generates a notification control signal to sound the horn of the vehicle 100b. In step S240, the remote control unit 212b transmits the generated notification control signal to the vehicle 100b. Upon receiving the notification control signal, the vehicle control unit 115 of vehicle 100b uses the received notification control signal to sound the horn in step S241.In this way, by notifying user U that the hood is in the open state, so that the hood's open / closed state becomes closed during a specific manufacturing process, user U can manually change the hood's open / closed state from open to closed.

[0061] According to the third embodiment described above, the control system 50b can, by notifying the user U via the notification devices 150, 250, 550, and 650 that the open / closed state of the equipment 140 is in the open state, do the following: The control system 50b can change the open / closed state of the equipment 140 from the open state to the closed state so that the open / closed state of the equipment 140 is in the closed state during a manufacturing process in which the vehicle 100b may be exposed to water. In this configuration, even equipment 140 whose open / closed state cannot be changed by external electrical control during a manufacturing process in which the vehicle 100b may be exposed to water can be set to the closed state.

[0062] Furthermore, according to the third embodiment described above, the control system 50b can detect the open / closed state of the equipment 140 from outside the vehicle 100b using a sensor.

[0063] Furthermore, the equipment 140 capable of detecting the open / closed state using the sensor's detection results is not limited to the hood. The equipment 140 capable of detecting the open / closed state using the sensor's detection results may be, for example, equipment 140 whose open / closed state can be changed by external electrical control, such as a power window.

[0064] D. Fourth Embodiment: Figure 11 is a block diagram showing the configuration of the control system 50c in the fourth embodiment. In this embodiment, the control system 50c confirms that the equipment 140 is in the closed state after the remote control unit 212 transmits a control signal, such as an equipment control signal or a notification control signal, to close the open / closed state of the equipment 140. If the control system 50c is unable to close the open / closed state of the equipment 140 due to some malfunction, it notifies the user U of an error. This prevents the vehicle 100c from being flooded with water. The other configurations are the same as in the first embodiment unless otherwise specified. Components identical to those in each of the above embodiments are denoted by the same reference numerals and their descriptions are omitted.

[0065] The processor 111c of the vehicle control device 110c executes the program PG1 stored in the memory 112c, thereby realizing various functions, including those of the vehicle control unit 115 and the detection unit 116.

[0066] The processor 201c of server 200c executes the program PG2 stored in memory 202c, thereby realizing various functions including those of the acquisition unit 211c, the remote control unit 212, and the notification unit 213.

[0067] In addition to process information, the acquisition unit 211c further acquires open / closed information indicating the open / closed state of the equipment 140 at the time after the remote control unit 212 has transmitted a control signal to set the open / closed state of the equipment 140 to the closed state.

[0068] The notification unit 213 notifies user U of error information regarding vehicle 100c if the open / closed state of equipment 140, as identified by the open / closed information at the time after the remote control unit 212 has transmitted a control signal to close the open / closed state of equipment 140, is in the open state. At this time, the notification unit 213 notifies user U via at least one of the following: the notification device 150 on vehicle 100c, the notification device 250 on server 200c, the notification device 550 on a mobile terminal 500 owned by user U, and the notification device 650 installed at factory FC. The notification unit 213 notifies user U that the open / closed state of equipment 140 is in the open state by, for example, sounding a horn mounted on vehicle 100c that generates a warning sound. The notification unit 213 may notify user U that the equipment 140 is in the open state by turning on or flashing a lamp mounted on vehicle 100c, or by oscillating a wiper mounted on vehicle 100c. Alternatively, the notification unit 213 may notify user U that the equipment 140 is in the open state by displaying text information indicating that the equipment 140 is in the open state on the display of server 200c or mobile terminal 500, or on a monitor installed in factory FC. The notification unit 213 may also notify user U that the equipment 140 is in the open state by playing audio information indicating that the equipment 140 is in the open state from the speaker of server 200c or mobile terminal 500, or on a speaker installed in factory FC. In this embodiment, the notification unit 213 generates a notification control signal to sound the horn and transmits the notification control signal to vehicle 100c, thereby sounding the horn via remote control.

[0069] Figure 12 is a flowchart showing another example of a control method for the equipment 140. In the control method shown in Figure 12, after the acquisition and control steps described above are performed, the confirmation step in step S300 is performed. The confirmation step is a step of confirming that the open / closed state of the equipment 140 is in the closed state at the time after the remote control unit 212 has transmitted a control signal to set the open / closed state of the equipment 140 to the closed state. In this embodiment, the confirmation step includes a notification step of notifying the user U of error information according to the open / closed state of the equipment 140. The flow shown in Figure 12 is repeatedly executed at a predetermined time period, for example, from the time when the manufacture of the vehicle 100c is started.

[0070] Figure 13 is a flowchart detailing the verification process in the fourth embodiment. The flow shown in Figure 13 starts, for example, when a predetermined time has elapsed after the remote control unit 212 has sent a control signal to close the open / closed state of the equipment 140. The predetermined time is set, for example, according to the time required to change the open / closed state of the equipment 140 from the open state to the closed state. In step S311, the remote control unit 212 of the server 200c sends a detection start signal to the vehicle 100c to start detecting the open / closed state of the power window. Upon receiving the detection start signal, the detection unit 116 of the vehicle 100c detects the open / closed state of the power window in step S312 using communication within the vehicle 100c. In step S313, the detection unit 116 outputs the open / closed information as a detection result to the server 200c. As a result, in step S314, the acquisition unit 211c of the server 200c acquires the open / closed information. If the power window's open / closed state, as identified by the open / closed information, is in the closed state (step S315: No), the notification unit 213 of the server 200c terminates this flow without notifying the user U of the error information. If the power window's open / closed state, as identified by the open / closed information, is in the open state (step S315: Yes), step S316 is executed. In step S316, the notification unit 213 generates a notification control signal to sound the horn of the vehicle 100c. In step S317, the notification unit 213 transmits the generated notification control signal to the vehicle 100c. Upon receiving the notification control signal, the vehicle control unit 115 of the vehicle 100c sounds the horn using the received notification control signal in step S318.

[0071] According to the fourth embodiment described above, the control system 50c can confirm that the equipment 140 is in the closed state after a control signal for closing the equipment 140 is transmitted by the remote control unit 212. Furthermore, even after the control signal for closing the equipment 140 is transmitted by the remote control unit 212, if the equipment 140 is still in the open state, the control system 50c can notify the user U of an error. In this configuration, it is possible to prompt the user U to take measures to close the equipment 140, or to avoid manufacturing processes that may cause water to come into contact with the vehicle 100c while the equipment 140 is still in the open state. Therefore, it is possible to more reliably prevent the inside of the vehicle 100c from being flooded.

[0072] E. Fifth Embodiment: Figure 14 is a block diagram showing the configuration of the control system 50d in the fifth embodiment. In this embodiment, the vehicle 100d is transported using transport equipment 700 such as cranes and conveyors without driving unmanned in at least a portion of the factory FC. The control system 50d stops the operation of the transport equipment 700 that transports the vehicle 100d toward PL2, a location where a specific manufacturing process is performed, if the open / closed state of the equipment 140 cannot be closed due to some malfunction. In this way, the control system 50d prevents the inside of the vehicle 100d from being flooded with water. The other configurations are the same as in the first embodiment unless otherwise specified. Components identical to those in each of the above embodiments are denoted by the same reference numerals and their descriptions are omitted.

[0073] The processor 111d of the vehicle control device 110d executes the program PG1 stored in the memory 112d, thereby realizing various functions, including those of the vehicle control unit 115 and the detection unit 116.

[0074] The processor 201d of server 200d executes the program PG2 stored in memory 202d, thereby realizing various functions, including those of the acquisition unit 211c and the remote control unit 212d.

[0075] The remote control unit 212d further stops the operation of the transport equipment 700 if the open / closed state of the equipment 140, as identified by the open / closed information at the time after transmitting a control signal to close the open / closed state of the equipment 140, is in the open state. In this embodiment, the remote control unit 212d generates an equipment control signal and transmits the equipment control signal to the vehicle 100d, thereby stopping the operation of the transport equipment 700 by remote control. The equipment control signal is a control signal for controlling the operation of the transport equipment 700.

[0076] Figure 15 is a flowchart detailing the verification process in the fifth embodiment. In this embodiment, the verification process includes an equipment shutdown process that stops the operation of the transport equipment 700 according to the open / closed state of the equipment 140. The flow shown in Figure 15 is started, for example, when a predetermined time has elapsed after the remote control unit 212d has sent a control signal to close the open / closed state of the equipment 140. In step S321, the remote control unit 212d of the server 200d sends a detection start signal to the vehicle 100d to start detecting the open / closed state of the power window. Upon receiving the detection start signal, the detection unit 116 of the vehicle 100d detects the open / closed state of the power window in step S322 using communication within the vehicle 100d. In step 323, the detection unit 116 outputs the open / closed information as a detection result to the server 200d. As a result, in step S324, the acquisition unit 211c of the server 200d acquires the open / closed information. If the open / closed state of the power window identified by the open / closed information is in the closed state (step S325: No), the remote control unit 212d of the server 200d terminates this flow without stopping the operation of the transport equipment 700. If the open / closed state of the power window identified by the open / closed information is in the open state (step S325: Yes), step S326 is executed. In step S326, the remote control unit 212d generates an equipment control signal to stop the operation of the transport equipment 700. In step S327, the remote control unit 212d transmits the generated equipment control signal to the transport equipment 700. Upon receiving the equipment control signal, the transport equipment 700 stops its operation in step S328 using the received equipment control signal.

[0077] According to the fifth embodiment described above, the control system 50d can stop the operation of the transport equipment 700 even after a control signal for closing the equipment 140 has been transmitted by the remote control unit 212d, if the equipment 140 is still in the open state. In this configuration, it is possible to avoid manufacturing processes that could cause water to come into contact with the vehicle 100d while the equipment 140 is still in the open state. Therefore, it is possible to more reliably prevent the inside of the vehicle 100d from becoming flooded.

[0078] F. Sixth Embodiment: Figure 16 is a block diagram showing the configuration of the control system 50e in the sixth embodiment. In this embodiment, if the open / closed state of the equipment 140 cannot be closed due to some malfunction, the control system 50e stops the operation of the vehicle 100e, which is traveling unmanned toward PL2, a location where a specific manufacturing process is performed. In this way, the control system 50e prevents the inside of the vehicle 100e from being flooded with water. The other configurations are the same as in the first embodiment unless otherwise specified. Components identical to those in each of the above embodiments are denoted by the same reference numerals and their descriptions are omitted.

[0079] The processor 201e of the server 200e executes the program PG2 stored in memory 202e, thereby realizing various functions, including those of the acquisition unit 211c and the remote control unit 212e.

[0080] The remote control unit 212e further performs the following actions if the open / closed state of the equipment 140, as identified by the open / closed information at the time after transmitting a control signal to close the open / closed state of the equipment 140, is in the open state: The remote control unit 212e stops the operation of the vehicle 100e, which is traveling unmanned toward PL2, a location where a specific manufacturing process is performed. In this embodiment, the remote control unit 212e stops the operation of the vehicle 100e by remote control by generating a stop control signal and transmitting the stop control signal to the vehicle 100e. The stop control signal is a control signal for stopping the vehicle 100e.

[0081] The processor 111e of the vehicle control device 110e executes the program PG1 stored in the memory 112e, thereby realizing various functions, including those of the vehicle control unit 115e and the detection unit 116.

[0082] The vehicle control unit 115e further stops the vehicle 100e by controlling the actuator group 120 using the stop control signal received from the server 200e.

[0083] Figure 17 is a flowchart detailing the verification process in the sixth embodiment. In this embodiment, the verification process includes a vehicle stopping process that stops the operation of the vehicle 100e according to the open / closed state of the equipment 140. The flow shown in Figure 17 is started, for example, when a predetermined time has elapsed after the remote control unit 212e has sent a control signal to close the open / closed state of the equipment 140. In step S331, the remote control unit 212e of the server 200e sends a detection start signal to the vehicle 100e to start detecting the open / closed state of the power window. Upon receiving the detection start signal, the detection unit 116 of the vehicle 100e detects the open / closed state of the power window in step S332 using communication within the vehicle 100e. In step S333, the detection unit 116 outputs the open / closed information as a detection result to the server 200e. As a result, in step S334, the acquisition unit 211c of the server 200e acquires the open / closed information. If the power window's open / closed state, as identified by the open / closed information, is in the closed state (step S335: No), the remote control unit 212e of the server 200e terminates this flow without stopping the operation of the vehicle 100e. If the power window's open / closed state, as identified by the open / closed information, is in the open state (step S335: Yes), step S336 is executed. In step S336, the remote control unit 212e generates a stop control signal to stop the operation of the vehicle 100e, which is traveling unmanned toward a specific manufacturing process. In step S337, the remote control unit 212e transmits the generated stop control signal to the vehicle 100e, which is traveling unmanned toward a specific manufacturing process. Upon receiving the stop control signal, the vehicle 100e stops in step S338 by controlling the actuator group 120 using the received stop control signal.

[0084] According to the sixth embodiment described above, if the open / closed state of the equipment 140 remains open even after a control signal for closing the open / closed state of the equipment 140 has been transmitted by the remote control unit 212e, the control system 50e can do the following: The control system 50e can stop the operation of the vehicle 100e, which is traveling unmanned towards a manufacturing process where the vehicle 100e may be exposed to water. In this configuration, it is possible to avoid the manufacturing process where the vehicle 100e may be exposed to water being carried out while the open / closed state of the equipment 140 remains open. Therefore, it is possible to more reliably prevent the inside of the vehicle 100e from being flooded.

[0085] G. Seventh Embodiment: Figure 18 is a block diagram showing the configuration of the control system 50f in the seventh embodiment. In this embodiment, the control system 50f starts controlling the open / closed state of the equipment 140 according to the time required to change the open / closed state of the equipment 140 from the open state to the closed state. This ensures that the open / closed state of the equipment 140 is more reliably closed in a specific manufacturing process. The other configurations are the same as in the first embodiment unless otherwise specified. Components identical to those in each of the above embodiments are denoted by the same reference numerals and their descriptions are omitted.

[0086] The processor 201f of server 200f executes the program PG2 stored in memory 202f, thereby realizing various functions, including those of the acquisition unit 211f and the remote control unit 212f.

[0087] The acquisition unit 211f acquires, in addition to process information, time required information indicating the time required to change the open / closed state of the equipment 140 from the open state to the closed state. The acquisition unit 211f acquires the time required information by referring to a table pre-stored in memory 202f, which represents the time required to change the open / closed state of the equipment 140 from the open state to the closed state for each type of equipment 140. Alternatively, the acquisition unit 211f may acquire the time required information by calculating the time required to change the open / closed state of the equipment 140 from the open state to the closed state using the current opening degree of the equipment 140 and the opening / closing speed of the equipment 140.

[0088] The remote control unit 212f uses the required time information to initiate control of the equipment 140 so that its open / closed state is closed before a specific manufacturing process begins. The remote control unit 212f may, for example, use production management information to determine the scheduled start time of a specific manufacturing process. The remote control unit 212f may also determine the scheduled start time of a specific manufacturing process using the distance between the manufacturing equipment 400 installed at location PL2 where the specific manufacturing process is performed and the vehicle 100, and the vehicle's speed. Then, the remote control unit 212f uses the required time information to determine the timing for initiating control of the equipment 140 so that its open / closed state is closed by the scheduled start time of the specific manufacturing process. The remote control unit 212f then generates an equipment control signal so that control of the equipment 140 can be initiated at the determined timing, and transmits the equipment control signal to the vehicle 100.

[0089] Figure 19 is a flowchart detailing the control process in the seventh embodiment. The flow shown in Figure 19 starts, for example, when the acquisition of process information is complete. In step S271, the remote control unit 212f of the server 200f uses a database DB indicating a specific manufacturing process to determine whether the manufacturing process identified by the process information includes a specific manufacturing process. If the manufacturing process identified by the process information does not include a specific manufacturing process (step S272: No), the remote control unit 212f terminates this flow without controlling the opening and closing state of the power window. If the manufacturing process identified by the process information includes a specific manufacturing process (step S272: Yes), step S273 is executed. In step S273, the acquisition unit 211f of the server 200f acquires the required time information for the power window. In step S274, the remote control unit 212f uses the acquired required time information to determine the timing to start controlling the power window. In step S275, the remote control unit 212f generates an equipment control signal so that the power window can be controlled at the determined timing. In step S276, the remote control unit 212f transmits the generated equipment control signal to the vehicle 100 so that control of the power window can be started at the determined timing. Upon receiving the equipment control signal, the vehicle control unit 115 of the vehicle 100 controls a specific actuator using the received equipment control signal in step S277. This ensures that the power window is closed before a specific manufacturing process begins.

[0090] According to the seventh embodiment described above, the control system 50f can close the open / closed state of the equipment 140 before a manufacturing process that may expose the vehicle 100 to water begins. This makes it possible to more reliably prevent the inside of the vehicle 100 from becoming flooded.

[0091] H. Eighth Embodiment: Figure 20 is an explanatory diagram showing the schematic configuration of the control system 50v in the eighth embodiment. In this embodiment, the control 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. Components identical to those in each of the above embodiments are denoted by the same reference numerals and their descriptions are omitted.

[0092] In this embodiment, the processor 111v of the vehicle control device 110v functions as a vehicle control unit 115v and an acquisition unit 117 by executing the program PG1 stored in the memory 112v. The acquisition unit 117 acquires various information, including process information. The vehicle control unit 115v acquires the output results from the sensors, generates a driving control signal using the output results, and outputs the generated driving control signal to operate the actuator group 120, thereby enabling the vehicle 100v to be driven autonomously. In this embodiment, in addition to the program PG1, the detection model DM and the reference path RR are pre-stored in the memory 112v. Furthermore, if the manufacturing process identified by the process information includes a specific manufacturing process, the vehicle control unit 115v controls the open / closed state of the equipment 140 so that the open / closed state of the equipment 140 becomes closed in the specific manufacturing process.

[0093] Figure 21 is a flowchart showing the processing procedure for vehicle 100V's driving control in the eighth embodiment. In the processing procedure shown in Figure 21, the vehicle 100V's processor 111V functions as a vehicle control unit 115V by executing program PG1.

[0094] 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 control 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 servers 200, 200a-200f.

[0095] According to the eighth embodiment described above, the control system 50V can automatically close the equipment 140 by autonomous control of the vehicle 100V.

[0096] I. Other embodiments: (I1) It is not essential that vehicles 100, 100a-100d, and 100v be configured to operate autonomously. For example, in each embodiment other than the sixth embodiment described above, vehicles 100, 100a-100d, and 100v may be operated autonomously in at least a portion of the factory fuel cell.

[0097] (I2) Similar problems may arise if a particular manufacturing process is one in which a liquid other than water may come into contact with the vehicles 100, 100a-100e, and 100v. Therefore, a particular manufacturing process may be one in which a liquid other than water may come into contact with the vehicles 100, 100a-100e, and 100v. A particular manufacturing process may be, for example, a painting process in which liquid paint comes into contact with the vehicles 100, 100a-100e, and 100v. A particular manufacturing process may be a cleaning process in which liquid detergent is used to clean the body of the vehicles 100, 100a-100e, and 100v, or a coating process in which liquid water-repellent coating is applied to the body of the vehicles 100, 100a-100e, and 100v. If a particular manufacturing process involves the possibility of liquids other than water coming into contact with vehicles 100, 100a-100e, and 100v, the term "water" in this disclosure may be replaced with "liquid" or "residue" as appropriate. In this form, it is possible to prevent liquids other than water from unintentionally entering vehicles 100, 100a-100e, and 100v.

[0098] (I3) The control systems 50, 50a-50f, 50v may be used in locations other than the factory FC where the vehicles 100, 100a-100e, 100v are manufactured. That is, the control systems 50, 50a-50f, 50v may control the open / closed state of the equipment 140 installed on the vehicles 100, 100a-100e, 100v after shipment. For example, the control systems 50, 50a-50f, 50v may control the open / closed state of the equipment 140 when a leak test process is performed after the glass constituting the moonroof is replaced at a repair shop where the vehicles 100, 100a-100e, 100v are being repaired. The control systems 50, 50a-50f, 50v may also control the open / closed state of the equipment 140 when the vehicles 100, 100a-100e, 100v are parked in an outdoor parking lot. The control systems 50, 50a-50f, and 50v may control the open / closed state of the equipment 140 at a gas station equipped with a car wash machine for cleaning vehicles 100, 100a-100e, and 100v. If the work process is other than the manufacturing process, the term "manufacturing" in this disclosure may be replaced with "work" as appropriate. In this configuration, the control systems 50, 50a-50f, and 50v can control the open / closed state of the equipment 140 installed in vehicles 100, 100a-100e, and 100v after shipment. This makes it possible to prevent the inside of vehicles 100, 100a-100e, and 100v from becoming flooded with water even outside of the factory fuel cell.

[0099] (I4) 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, 100a-100e, and 100v. In this case, the servers 200, 200a-200f and vehicles 100, 100a-100e, 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.

[0100] (I5) In the first embodiment described above, the servers 200, 200a-200f perform the processing from acquiring vehicle position information to generating driving control signals. In contrast, the vehicles 100, 100a-100e 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.

[0101] (1) Servers 200, 200a-200f may acquire vehicle location information, determine the next target location that vehicles 100, 100a-100e should head to, and generate a route from the current location of vehicles 100, 100a-100e, as shown in the acquired vehicle location information, to the target location. Servers 200, 200a-200f may generate a route to the target location between the current location and the destination, or a route to the destination. Servers 200, 200a-200f may transmit the generated route to vehicles 100, 100a-100e. Vehicle 100 may generate a driving control signal so that vehicles 100, 100a-100e travel along the route received from servers 200, 200a-200f, and may use the generated driving control signal to control the actuator group 120.

[0102] (2) Servers 200, 200a-200f may acquire vehicle location information and transmit the acquired vehicle location information to vehicles 100, 100a-100e. Vehicles 100, 100a-100e may determine the next target location to which vehicle 100 should go, generate a route from the current location of vehicles 100, 100a-100e shown in the received vehicle location information to the target location, generate a driving control signal so that vehicles 100, 100a-100e travel along the generated route, and use the generated driving control signal to control the actuator group 120.

[0103] (3) In the embodiments of (1) and (2) above, internal sensors are mounted on vehicles 100, 100a-100e, and detection results output from the internal sensors may be used for at least one of the generation of a path and the generation of a driving control signal. The internal sensors are sensors mounted on vehicles 100, 100a-100e, and 100v. The internal sensors may include, for example, sensors that detect the motion state of vehicles 100, 100a-100e, and 100v, sensors that detect the operating state of each part of vehicles 100, 100a-100e, and 100v, and sensors that detect the environment around vehicles 100, 100a-100e, and 100v. Specifically, the internal sensors may include, for example, cameras, LiDAR, millimeter-wave radar, ultrasonic sensors, GPS sensors, acceleration sensors, gyroscopes, and the like. For example, in the configuration of (1) above, servers 200, 200a-200f may acquire detection results from internal sensors and reflect the detection results from internal sensors in the route when generating a route. In the configuration of (1) above, vehicles 100, 100a-100e 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 configuration of (2) above, vehicles 100, 100a-100e may acquire detection results from internal sensors and reflect the detection results from internal sensors in the route when generating a route. In the configuration of (2) above, vehicles 100, 100a-100e 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.

[0104] (I6) In the eighth 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.

[0105] (I7) In the eighth embodiment described above, the vehicle 100v acquires vehicle position information using the detection results of the external sensor 300. In contrast, the vehicle 100v may be equipped with an internal sensor, and the vehicle 100v 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 driving along the generated route, and control the actuator group 120 using the generated driving control signal. In this case, the vehicle 100v can drive 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 control system 50v may be provided in the vehicle 100v. That is, the processing realized by the control system 50v in this disclosure may be realized by the vehicle 100v alone.

[0106] (I8) In the first embodiment described above, servers 200, 200a-200f automatically generate driving control signals to be transmitted to vehicles 100, 100a-100e. Alternatively, server 200 may generate driving control signals to be transmitted to vehicles 100, 100a-100e in accordance with the operations of an external operator located outside of vehicles 100, 100a-100e. 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, 100a-100e, an accelerator pedal, a brake pedal, and a communication device for communicating with servers 200, 200a-200f via wired or wireless communication, and servers 200, 200a-200f may generate driving control signals in accordance with the operations applied to the control device.

[0107] (I9) In each of the above embodiments, the vehicles 100, 100a-100e, 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, 100a-100e, 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, 110a-110e, and 110v and an actuator group 120. When the vehicles 100, 100a-100e, and 100v acquire information from the outside for unmanned operation, the vehicles 100, 100a-100e, and 100v may further be equipped with a communication device 130. In other words, the autonomously operated vehicles 100, 100a-100e, and 100v do not need to have at least some of their interior components, such as the driver's seat and dashboard, or at least some of their exterior components, such as the bumper and fenders, or even a body shell. In this case, the remaining components, such as the body shell, may be installed on the vehicles 100, 100a-100e, and 100v before they are shipped from the factory FC, or the remaining components, such as the body shell, may be installed on the vehicles 100, 100a-100e, and 100v after they have been shipped from the factory FC while the remaining components, such as the body shell, are not installed on the vehicles 100, 100a-100e, and 100v. Each component may be mounted on the vehicle 100, 100a-100e, 100v from any direction, such as the top, bottom, front, rear, right, or left side, and they may be mounted from the same direction or from different directions. The positioning of the platform can also be determined in the same way as for the vehicle 100, 100a-100e, 100v in the first embodiment.

[0108] (I10) Vehicles 100, 100a-100e, 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. For example, the platform of vehicle 100, 100a-100e, and 100v may be manufactured by combining a front module that constitutes the front part of the platform, a central module that constitutes the central 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, 100a-100e, 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, 100a-100e, and 100v, any type of mobile body may be manufactured by combining multiple modules. These modules may be manufactured, for example, by joining multiple parts by welding or fasteners, or by integrally molding at least a portion of the module as a single part by casting. The molding method of integrally molding at least a portion of the module as a single part is also called Gigacast or Megacast. By using Gigacast, each part of the moving body, which was conventionally formed by joining multiple parts, can be formed as a single part. For example, the forward module, central module, and rear module mentioned above may be manufactured using Gigacast.

[0109] (I11) Transporting vehicles 100, 100a-100e, and 100v using unmanned operation is also called "autonomous transport." The configuration for realizing autonomous transport is also called a "vehicle remote control autonomous driving transport system." Furthermore, a production method that uses autonomous transport to produce vehicles 100, 100a-100e, and 100v is also called "autonomous production." In autonomous production, for example, in a factory cluster (FC) that manufactures vehicles 100, 100a-100e, and 100v, at least a portion of the transport of vehicles 100, 100a-100e, and 100v is realized by autonomous transport.

[0110] (I12) 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.

[0111] 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]

[0112] 50, 50a-50f, 50v… Control system, 100, 100a-100e, 100v… Vehicle, 110, 110a-110e, 110v… Vehicle control device, 111, 111a-111e, 111v… Processor of vehicle control device, 112, 112a-112e, 112v… Memory of vehicle control device, 113… Input / output interface of vehicle control device, 114… Internal bus of vehicle control device, 115, 115b, 115e, 115v… Vehicle control unit, 116, 210… Detection unit, 117, 211, 211a, 211c, 211f… Acquisition unit, 120… Actuator group, 130… Vehicle communication device, 140… Equipment, 150… Vehicle notification device, 200, 200a-200f… Server 201, 201a-201f…Server processor, 202, 202a-202f…Server memory, 203…Server input / output interface, 204…Server internal bus, 205…Server communication device, 212, 212a, 212b, 212d-212f…Remote control unit, 213…Notification unit, 250…Server notification device, 300…External sensor, 400…Manufacturing equipment, 500…Mobile terminal, 550…Mobile terminal notification device, 650…Notification device installed in the factory, 700…Transportation equipment, DB…Database, DM…Detection model, FC…Factory, GC…Global coordinate system, PG1, PG2…Program, PL1…First location, PL2…Second location, RR…Reference path, TR…Track, U…User

Claims

1. A control system for controlling the open / closed state of equipment mounted on a mobile body and whose open / closed state can be changed, The aforementioned equipment separates the inside and outside of the moving body when closed. The control system is An acquisition unit that acquires process information indicating the work process to be performed on the moving body, A control system comprising: a control unit that controls the open / closed state of the equipment such that the open / closed state of the equipment becomes the closed state during a specific work process in which a work process identified by the process information may come into contact with the moving body.

2. A control system according to claim 1, The acquisition unit further acquires open / closed information indicating the open / closed state of the equipment, The control unit is a control system that, when the open / closed state of the equipment identified by the open / closed information is in the open state, changes the open / closed state of the equipment from the open state to the closed state.

3. A control system according to claim 1, The acquisition unit further acquires open / closed information indicating the open / closed state of the equipment at the time after the control unit has transmitted a control signal to change the open / closed state of the equipment to the closed state. The control system further includes a notification unit that notifies the user of error information when the open / closed state of the equipment, as identified by the open / closed information at a later time, is in the open state.

4. A control system according to claim 1, The acquisition unit further acquires open / closed information indicating the open / closed state of the equipment at the time after the control unit has transmitted a control signal to change the open / closed state of the equipment to the closed state. A control system in which, if the open / closed state of the equipment identified by the open / closed information at a later time point is in the open state, the control unit stops the operation of the transport equipment that transports the mobile body toward the location where the specific work process is performed.

5. A control system according to claim 1, The aforementioned mobile unit is capable of moving by unmanned operation. The acquisition unit further acquires open / closed information indicating the open / closed state of the equipment at the time after the control unit has transmitted a control signal to change the open / closed state of the equipment to the closed state. A control system in which, if the open / closed state of the equipment identified by the open / closed information at a later time point is in the open state, the control unit stops the movement of the mobile body which is moving unmanned toward the location where the specific work process is to be performed.

6. A control system according to any one of claims 2 to 5, further comprising: A control system comprising a detection unit that uses communication within the mobile body to detect the open / closed state of the equipment and outputs the open / closed information.

7. A control system according to any one of claims 2 to 5, further comprising: A sensor that detects the moving object from outside the moving object, A control system comprising: a detection unit that detects the open / closed state of the equipment using the detection result of the sensor and outputs the open / closed information.

8. A control system according to claim 1, The acquisition unit is a control system that acquires process information by utilizing communication between the mobile body and equipment installed at the location where the work process is performed.

9. The control system according to claim 1, further, The system includes a memory that stores a database indicating the specific work process, The control unit determines that the work process identified by the process information is the specific work process if it is included in the database.

10. A control system according to claim 1, The acquisition unit further acquires time information indicating the time required to change the open / closed state of the equipment from the open state to the closed state. The control unit is a control system that uses the required time information to initiate control of the equipment so that the open / closed state of the equipment becomes the closed state before the specific work process is started.

11. A control system according to claim 1, A control system in which the aforementioned specific work process is a liquid leak inspection process that checks whether the liquid enters the moving body when the liquid is applied to the moving body.

12. A control system according to claim 1, A control system in which the aforementioned specific work process is the work process of the mobile body moving outdoors.

13. A control system according to claim 1, The control system wherein the aforementioned specific work process is a cleaning process for cleaning the body of the moving object.

14. A control system according to claim 1, The aforementioned equipment is a control system comprising at least one of the following: windows, doors, trunk lid, hood, and roof.

15. A control method for controlling the open / closed state of equipment mounted on a mobile body and capable of changing its open / closed state, The aforementioned equipment separates the inside and outside of the moving body when closed. The control method described above is An acquisition step to acquire process information indicating the work process to be performed on the aforementioned mobile body, A control method comprising: a control step of controlling the open / closed state of the equipment such that the open / closed state of the equipment becomes closed during a specific work step in which a work step identified by the process information may come into contact with the moving body.

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