Transport method switching device, transport switching method, and vehicle

Abstract

To provide a technique for smoothly switching from a transport method that utilizes the movement of a moving body by movement control to a transport method of a moving body that uses a transport device.SOLUTION: A transport method switching device includes: a position estimation unit that estimates a position of a moving body by using moving body information detected by a moving body detector that detects at least one of moving body information including an image of the moving body that can move by unmanned driving and three-dimensional point cloud data of the moving body; a command generation unit that generates and outputs a control command for automatically moving the moving body by movement control by using the estimated position of the moving body; and a movement control determination unit that determines whether or not to stop movement control by using a transport start position of the moving body in a transport device and a moving body position that is a position of the moving body in a transport section, including the estimated position. The command generation unit generates and outputs a control command to stop the movement control when the movement control determination unit determines that the movement control should be stopped.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a transportation method switching device, a transportation method switching method, and a moving body. [Background technology]

[0002] For example, Patent Document 1 discloses a technology in a manufacturing system for manufacturing vehicles that uses different transport methods: transporting vehicles using belts and transporting vehicles using remotely controlled running. [Prior art documents] [Patent documents]

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

[0004] However, in the past, only a configuration has been considered in which a vehicle is transported using a belt, followed by transport using remotely controlled vehicle movement, and the reality is that no consideration has been given to a configuration in which a vehicle is transported using a belt, followed by transport using remotely controlled vehicle movement. [Means for solving the problem]

[0005] The present disclosure can be realized in the following forms. 。 According to one embodiment of the present disclosure, there is provided a transportation method switching device. The transportation method switching device includes: a position estimation unit that estimates a position of a mobile object using mobile object information detected by a mobile object detector, the mobile object information being at least one of an image of a mobile object capable of moving by unmanned operation and three-dimensional point cloud data of the mobile object; a command generation unit that generates and outputs a control command for automatically moving the mobile object by movement control using the estimated position of the mobile object; and a movement control determination unit that determines whether to stop the movement control using a transport start position of the mobile object in a transport device that can transport the mobile object in a predetermined transport section and a mobile object position that is the position of the mobile object in the transport section, the mobile object position including the estimated position. The command generation unit stops the movement control when the movement control determination unit determines to stop the movement control. According to one embodiment of the present disclosure, there is provided a transportation method switching device. The transportation method switching device includes: a position estimation unit that estimates a position of the vehicle using mobile object information detected by a mobile object detector, the mobile object information being at least one of an image of a vehicle capable of moving by unmanned operation and three-dimensional point cloud data of the vehicle; a command generation unit that generates and outputs a control command for automatically moving the vehicle by mobile control using the estimated position of the vehicle; and a movement control determination unit that determines whether to stop the movement control using a transportation start position of the vehicle in a transportation device capable of transporting the vehicle in a predetermined transportation section and a mobile object position that is the position of the vehicle in the transportation section, the mobile object position including the estimated position. The command generation unit stops the movement control when the movement control determination unit determines to stop the movement control.

[0006] (1) According to one aspect of the present disclosure, there is provided a transportation method switching device. The transportation method switching device includes: a position estimation unit that estimates a position of a mobile object using mobile object information detected by a mobile object detector, the mobile object information being at least one of an image of a mobile object capable of moving by unmanned operation and three-dimensional point cloud data of the mobile object; a command generation unit that generates and outputs a control command for automatically moving the mobile object by movement control using the estimated position of the mobile object; and a movement control determination unit that determines whether to stop the movement control using a transport start position of the mobile object in a transport device that can transport the mobile object in a predetermined transport section and a mobile object position that is the position of the mobile object in the transport section and includes the estimated position. When the movement control determination unit determines that the movement control should be stopped, the command generation unit generates and outputs a control command for stopping the movement control. According to the transport method switching device of this aspect, it is possible to smoothly switch from a transport method that utilizes the movement of the moving body by the movement control to a transport method that uses the transport device. (2) In the transport method switching device of the above aspect, the movement control determination unit may determine to stop the movement control when the acquired estimated position reaches the transport start position. According to this form of transport method switching device, by stopping movement control at the transport start position of the transport device, it is possible to suppress power consumption and processing burden caused by the transport method switching device during transport by the transport device, and to efficiently switch transport methods. (3) In the transport method switching device of the above embodiment, the command generation unit may generate and output a control command to stop the movement control by either stopping the generation of the control command or stopping the transmission of the generated control command to the moving body. According to this type of transport method switching device, movement control can be stopped in a simpler way than by turning off the power to the transport method switching device or the moving body, thereby reducing the processing burden during transport by the transport device. (4) In the transport method switching device of the above form, when the movement control determination unit determines that the movement control should be stopped, the command generation unit may switch between a state in which power from the prime mover is not transmitted to the moving unit for moving the moving body and a state in which a transmission unit for transmitting power from the prime mover to the moving unit is fixed, and then generate and output a control command to stop the movement control. According to the transport method switching device of this aspect, by switching the moving body to an immovable state before transport by the transport device, it is possible to suppress or prevent the moving body from shifting in position during transport by the transport device. (5) The transport method switching device of the above aspect may further include a transport information acquisition unit that acquires a transport speed of the moving object transported by the transport device. The movement control determination unit may further check the acquired transport speed when the movement control determination unit determines to stop the movement control. The command generation unit may turn off a power supply to the moving object and generate and output a control command to stop the movement control when the confirmed transport speed is slower than a predetermined reference speed, or may generate and output a control command to stop the movement control without turning off a power supply to the moving object when the confirmed transport speed is equal to or greater than the reference speed. According to the transport method switching device of this aspect, it is possible to stop the movement control in an appropriate state for each transport time by the transport device. (6) In the transport method switching device of the above form, a subsequent instruction unit may be provided that, when the moving body is not transported by the transport device after the movement control is stopped, outputs an instruction to delay the timing at which a subsequent moving body that is scheduled to be transported by the transport device after the moving body arrives at the transport device. According to the transport method switching device of this aspect, it is possible to prevent a subsequent moving body from coming into contact with a moving body that is stopped at the transport start position before transport by the transport device has started. (7) The transport method switching device of the above aspect may further include a notification unit that issues a notification when the moving body is not transported by the transport device after the movement control is stopped. According to the transport method switching device of this aspect, it is possible to prompt the transport device to take measures against abnormal transport, and to prompt the transport device to recover quickly. (8) The transport method switching device of the above embodiment may further include a transport instruction unit that outputs an instruction to stop the transport of the moving body by the transport device when the moving body is not transported by the transport device after the movement control is stopped. According to this type of transport method switching device, if the transport device is unable to transport the moving body, transport by the transport device is stopped, thereby ensuring time to take measures to deal with the abnormality. The present disclosure can also be realized in various forms other than a transport method switching device, such as a remote control device, a transport switching method, a moving body, a transport device, a transport system, a method for transporting a moving body, a method for controlling a transport device, a method for controlling a transport system, a computer program for realizing these control methods, a non-transitory recording medium on which the computer program is recorded, etc. [Brief explanation of the drawings]

[0007] [Figure 1] FIG. 1 is an explanatory diagram showing a schematic configuration of a transport system including a remote control device as a transport method switching device. [Figure 2] FIG. 2 is an explanatory diagram showing the internal functional configuration of a vehicle. [Figure 3] FIG. 2 is a block diagram showing the internal functional configuration of the remote control device according to the first embodiment. [Figure 4A] 4 is a flowchart showing a vehicle driving method implemented by the remote control device. [Figure 4B] FIG. 2 is a block diagram showing the internal functional configuration of the transport control device. [Figure 5] 3 is a flowchart showing a vehicle transport method according to the first embodiment of the present disclosure. [Figure 6] FIG. 10 is an explanatory diagram schematically showing a method for stopping remote control at a transfer start position. [Figure 7] 10 is a flowchart showing a vehicle transport method according to a second embodiment. [Figure 8] FIG. 11 is a block diagram showing the functional configuration of an ECU in a vehicle according to a third embodiment. [Figure 9] 10 is a flowchart showing a vehicle driving method according to a third embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0008] A. First embodiment: 1 is an explanatory diagram showing a schematic configuration of a conveyance system 600 including a remote control device 300 as a conveyance method switching device according to a first embodiment of the present disclosure. The conveyance system 600 is used, for example, in a factory that manufactures vehicles 100. The conveyance target of the conveyance system 600 is the vehicle 100, which can travel under remote control. The conveyance system 600 is used, for example, in an inspection process for the vehicle 100 or an assembly process for the vehicle 100, and conveys the vehicle 100 over a predetermined conveyance section in the manufacturing process of the vehicle 100. The conveyance system 600 includes the remote control device 300, a vehicle detector 80, and a conveyance device 500.

[0009] FIG. 2 is an explanatory diagram showing the internal functional configuration of vehicle 100. Vehicle 100 may be, for example, a passenger car, a truck, a bus, or a construction vehicle. In this embodiment, vehicle 100 is a battery electric vehicle (BEV) capable of traveling in an unmanned driving mode. "Unmanned driving" refers to driving without the driver's control. Driving operation refers to at least one of the vehicle's operations of "running," "turning," and "stopping." Unmanned driving is achieved by automatic or manual remote control using a device installed outside the vehicle, or by autonomous control of the vehicle. A vehicle traveling in an unmanned driving mode may have a driver who does not perform driving operations on board. Examples of drivers who do not perform driving operations include a person simply sitting in the vehicle seat, or a person who is in the vehicle performing tasks other than driving, such as assembly, inspection, or operating switches. Driving performed by a driver is sometimes called "manned driving." The vehicle 100 includes a vehicle communication device 190, an actuator 140, and an ECU (Electronic Control Unit) 200.

[0010] The ECU 200 is mounted on the vehicle 100 and executes various controls of the vehicle 100. The ECU 200 includes a storage device 220 such as an HDD (hard disk drive), an SSD (solid state drive), an optical recording medium, or a semiconductor memory, a CPU 210 as a central processing unit, and an interface circuit 230. The CPU 210, the storage device 220, and the interface circuit 230 are connected via an internal bus to enable bidirectional communication. The interface circuit 230 is connected to an actuator 140 and a vehicle communication device 190. The vehicle communication device 190 wirelessly communicates with devices external to the vehicle 100 that are connected to a network, such as a remote control device 300, via an access point in a factory or the like.

[0011] Computer programs for realizing at least some of the functions provided in this embodiment are stored in the storage device 220. The CPU 210 executes various computer programs stored in the memory to realize functions such as the operation control unit 212.

[0012] The driving control unit 212 executes driving control of the vehicle 100. "Driving control" refers to various controls for driving the actuators 140 that perform the functions of "running," "turning," and "stopping" of the vehicle 100, such as adjusting acceleration, speed, and steering angle. If the vehicle 100 is replaced by a moving body, the term "movement control" may be used instead of "driving control." In this embodiment, the actuators 140 include an actuator of the drive device 160 for accelerating the vehicle 100, an actuator of a steering device for changing the traveling direction of the vehicle 100, and an actuator of a braking device for decelerating the vehicle 100. The actuators 140 may further include an actuator for swinging the wipers of the vehicle 100, an actuator for opening and closing the power windows of the vehicle 100, etc.

[0013] The actuator of the drive device 160 includes a driving battery (not shown), a driving motor 168 driven by power from the driving battery, wheels 166, a transmission unit 162, and a lock unit 164. The driving motor 168 is an example of a prime mover. A prime mover such as an internal combustion engine or an external combustion engine may be provided instead of the driving motor 168. The wheels 166 rotate by power transmitted from the driving motor 168. The wheels 166 are an example of a moving unit for moving the mobile body.

[0014] The transmission unit 162 includes a transmission mechanism such as gears and shafts, and transmits power from the traction motor 168 to the wheels 166. The lock unit 164 switches the transmission mechanism of the transmission unit 162 between locked and unlocked states. The lock unit 164 is sometimes called a "parking lock pole." When the function of the transmission unit 162 is switched to "P range" by remote control using the remote control unit 312 or by manual operation of an operating lever inside the vehicle by the driver or the like, the transmission mechanism of the transmission unit 162 is locked by the lock unit 164. As a result, the wheels 166 are locked and do not rotate. When the transmission range is switched to "N range," the gears and the like of the transmission mechanism of the transmission unit 162 are disconnected, and power from the traction motor 168 is not transmitted to the wheels 166. In the N range, the wheels 166 can be rotated by an external force. The "D range" is a state in which the transmission unit 162 transmits power from the driving motor 168 to the wheels 166, thereby enabling the vehicle 100 to travel.

[0015] When a driver is on board the vehicle 100, the driving control unit 212 controls the actuator 140 in accordance with the driver's operation, thereby causing the vehicle 100 to travel. Moreover, the driving control unit 212 can also cause the vehicle 100 to travel by controlling the actuator 140 in accordance with a control command transmitted from the remote control device 300, regardless of whether a driver is on board the vehicle 100 or not.

[0016] The vehicle detector 80 is a device for measuring vehicle information. "Vehicle information" is information used to estimate at least one of the position of the vehicle 100 and the orientation of the vehicle 100. In this embodiment, the vehicle detector 80 uses a LiDAR (Light Detection And Ranging) ranging device. The vehicle detector 80 measures three-dimensional point cloud data of the vehicle 100 as the vehicle information. The three-dimensional point cloud data is data that indicates the three-dimensional positions of a point cloud. By using LiDAR, high-precision three-dimensional point cloud data can be acquired. Note that the orientation and traveling direction of the vehicle 100 may be estimated by acquiring only the position of the vehicle 100 using the vehicle detector 80 and acquiring changes in the position of the vehicle 100 over time, etc.

[0017] The vehicle detector 80 is communicatively connected to the remote control device 300 via wireless or wired communication. The remote control device 300 can acquire the relative position and orientation of the vehicle 100 with respect to the target route in real time by acquiring three-dimensional point cloud data from the vehicle detector 80. The position of the vehicle detector 80 is fixed near the travel path SR and the conveyance device 500.

[0018] 3 is a block diagram showing the internal functional configuration of a remote control device 300 according to the first embodiment. The remote control device 300 generates a control command for automatically driving the vehicle 100 by remote control, transmits the control command to the vehicle 100, and performs driving control of the vehicle 100 by remote control. For example, the remote control device 300 transports the vehicle 100 along a transport section within a factory by remotely controlling the vehicle 100 to drive automatically. In this embodiment, the remote control device 300 also functions as a transport method switching device that determines whether to stop driving control of the vehicle 100 by remote control, using transport status information that indicates the transport status of the vehicle 100 by the transport device 500, as will be described later.

[0019] The remote control device 300 includes a CPU 310 as a central processing unit, a storage device 340, an interface circuit 350, and a remote communication device 390. The CPU 310, the storage device 340, and the interface circuit 350 are connected via an internal bus to enable bidirectional communication. The interface circuit 350 is connected to the remote communication device 390. The remote communication device 390 communicates with the vehicle 100 and the transportation control device 400 via a network or the like.

[0020] The storage device 340 is, for example, a RAM, a ROM, a HDD, or an SSD. A reference speed SV is stored in a readable / writable area of ​​the storage device 340. The reference speed SV is a variable conveying speed at which the conveying device 500 conveys the vehicle 100, and is set under normal circumstances. The "conveying speed set under normal circumstances" is, for example, a conveying speed that is set in advance to achieve a target production time. The target production time is the production time set for a process to manufacture one vehicle 100. The target production time is sometimes called the "takt time." As will be described later, the reference speed SV functions as a threshold for determining the timing to remove the vehicle 100 from the conveying device 500.

[0021] A computer program for realizing at least some of the functions provided in this embodiment is stored in the storage device 340. When the computer program stored in the storage device 340 is executed by the CPU 310, the CPU 310 functions as a remote control unit 312, a position estimation unit 314, a remote control determination unit 316, a transport information acquisition unit 318, a transport instruction unit 322, a notification unit 324, a subsequent instruction unit 326, and a vehicle information acquisition unit 328. However, some or all of these functions may be configured by hardware circuits.

[0022] The position estimation unit 314 acquires vehicle information from the vehicle detector 80 and estimates the position and orientation of the vehicle 100 using the acquired vehicle information. In this embodiment, the position estimation unit 314 uses three-dimensional point cloud data measured by the vehicle detector 80 as the vehicle information. The position estimation unit 314 estimates the position and orientation of the vehicle 100 in the acquired three-dimensional point cloud data. Specifically, the position estimation unit 314 performs template matching on the three-dimensional point cloud data using vehicle point cloud data stored in advance in the storage device 340. This allows the position and orientation of the vehicle 100 in the three-dimensional point cloud data to be estimated with high accuracy. For example, three-dimensional CAD data of the vehicle 100 can be used as the template for the vehicle point cloud data. The vehicle point cloud data may include information for identifying the orientation of the vehicle 100. For template matching of the vehicle point cloud data with the three-dimensional point cloud data, for example, an iterative closest point (ICP) algorithm or a normal distribution transform (NDT) algorithm can be used.

[0023] The remote control unit 312 functions as a command generation unit that generates control commands for causing the vehicle 100 to perform various operations and outputs the control commands to the vehicle 100. For example, the remote control unit 312 generates a control command for remote control using the estimated position and orientation of the vehicle 100 and transmits the control command to the vehicle 100. This control command is, for example, a command to cause the vehicle 100 to travel along a target route stored in the storage device 340. The control command can be generated as a command including a driving force or braking force and a steering angle. Alternatively, the control command may be generated as a command including at least one of the position and orientation of the vehicle 100 and a future travel route. When the vehicle 100 receives a request for remote control, the driving control unit 212 of the ECU 200 implements driving control, and as a result, the vehicle 100 travels automatically.

[0024] 4A is a flowchart showing a method for driving the vehicle 100 implemented by the remote control device 300. The remote control unit 312 acquires the estimation results of the position and orientation of the vehicle 100 by the position estimation unit 314 (step S1). In this embodiment, the position of the vehicle 100 includes X, Y, and Z coordinates in the global coordinate system of the factory. The position of the vehicle detector 80 is adjusted in advance. The remote control unit 312 detects the position of the vehicle 100 from the vehicle information acquired from the vehicle detector 80, and acquires the position of the vehicle 100 in the factory from the detected position of the vehicle 100.

[0025] The remote control unit 312 determines a target position to which the vehicle 100 should next head (step S2). In this embodiment, the target position is represented by X, Y, and Z coordinates in the global coordinate system of the factory. An ideal route, which is the route the vehicle 100 should travel, is stored in advance in the storage device 340 of the remote control device 300. The route is represented by nodes indicating the departure point, nodes indicating passing points, nodes indicating the destination, and links connecting the nodes. The remote control unit 312 uses the position of the vehicle 100 and the ideal route to determine a target position to which the vehicle 100 should next head. The remote control unit 312 determines a target position on the ideal route that is ahead of the current location of the vehicle 100.

[0026] The remote control unit 312 generates a driving control signal for driving the vehicle 100 toward the determined target position (step S3). In this embodiment, the driving control signal includes the acceleration and steering angle of the vehicle 100 as parameters. The remote control unit 312 calculates the driving speed of the vehicle 100 from the change in the position of the vehicle 100 and compares the calculated driving speed with a predetermined target speed of the vehicle 100. If the driving speed is lower than the target speed, the remote control unit 312 determines the acceleration so that the vehicle 100 accelerates. If the driving speed is higher than the target speed, the remote control unit 312 determines the acceleration so that the vehicle 100 decelerates. If the vehicle 100 is located on the ideal route, the remote control unit 312 determines the steering angle so that the vehicle 100 does not deviate from the ideal route. If the vehicle 100 is not located on the ideal route, in other words, if the vehicle 100 has deviated from the ideal route, the remote control unit 312 determines the steering angle so that the vehicle 100 returns to the ideal route.

[0027] The remote control unit 312 transmits the generated driving control signal to the vehicle 100 (step S4). The remote control unit 312 repeats, at a predetermined cycle, obtaining the position of the vehicle 100, determining the target position, generating the driving control signal, and transmitting the driving control signal.

[0028] The driving control unit 212 of the vehicle 100 receives the driving control signal from the remote control unit 312 (step S5), and controls the actuator 140 using the received driving control signal, thereby causing the vehicle 100 to drive at the acceleration and steering angle indicated in the driving control signal (step S6). The driving control unit 212 repeats receiving the driving control signal and controlling the actuator 140 at a predetermined cycle. As described above, by driving the vehicle 100 by remote control, it is possible to move the vehicle 100 without using transportation equipment such as a crane or conveyor.

[0029] Returning to FIG. 3 , the remote control determination unit 316 determines whether to stop remote control. Specifically, the remote control determination unit 316 determines whether to stop remote control using the transport start position of the vehicle 100 in the transport section of the transport device 500 and the vehicle position. The remote control determination unit 316 is an example of a movement control determination unit that determines whether to stop movement control of a moving object using the transport start position where transport of the moving object by the transport device 500 starts and the moving object position, which is the position of the moving object in the transport section. The "vehicle position" is the position of the vehicle 100 in the transport section of the transport device 500. The vehicle position may be the overall position of the vehicle 100 or the position of a part of the vehicle 100. The "overall position of the vehicle 100" may be, for example, the positions of each end of the vehicle 100 in the length direction, width direction, and height direction, a position representative of the vehicle 100 such as the center of gravity of the vehicle 100, or a set of the positions of each part of the vehicle 100. The "transport start position" is a position included in the transport section of the transport device 500, at which the transport device 500 starts transporting the vehicle 100. The transport start position will be described in detail later.

[0030] At the transfer start position, the transfer method of the vehicle 100 is switched from self-propelled transfer by remote control to transfer by the transfer device 500. When the vehicle 100 traveling by remote control reaches the transfer device 500 and then reaches the transfer start position in the transfer section, it becomes ready for transfer by the transfer device 500. When the vehicle 100 becomes ready for transfer by the transfer device 500, the remote control determination unit 316 determines to stop remote control. That is, at the transfer start position, the transfer method is switched from self-propelled transfer of the vehicle 100 by remote control to transfer by the transfer device 500. "Stopping remote control" includes, for example, stopping the generation of control commands for remotely controlling the vehicle 100 by the remote control unit 312 and stopping the transmission of control commands generated by the remote control device 300 to the vehicle 100. Other embodiments of stopping remote control include turning off the power supply and communication functions of the remote control device 300, turning off the power supply and communication functions of the vehicle 100, etc.

[0031] The conveyance information acquisition unit 318 acquires conveyance status information indicating the conveyance status of the vehicle 100. The "conveyance status information" refers to the vehicle position and the conveyance speed of the vehicle 100 by the conveyance device 500. The conveyance information acquisition unit 318 acquires the vehicle position VP stored in the storage device 440 from the conveyance control device 400, or, if available from the vehicle detector 80, acquires the position of the vehicle 100 on the conveyor unit 510 from the vehicle detector 80, thereby acquiring the vehicle position. The conveyance information acquisition unit 318 may acquire the vehicle position directly from the conveyance position detector 526. In this embodiment, the conveyance information acquisition unit 318 acquires the conveyance speed by acquiring the conveyance speed CV stored in the storage device 440 from the conveyance control device 400. The conveyance information acquisition unit 318 may acquire the conveyance speed directly from the conveyance speed detector 524.

[0032] The transport instruction unit 322 outputs instructions to the transport control device 400 regarding the transport of the vehicle 100 by the transport device 500. The transport instruction unit 322 outputs an instruction to stop the transport of the vehicle 100 by the transport device 500, for example, when an abnormality occurs in the transport of the vehicle 100 by the transport device 500 after remote control is stopped.

[0033] The notification unit 324 issues a notification when an abnormality occurs in the traveling of the vehicle 100 under remote control. The notification unit 324 issues a notification when an abnormality occurs in the transportation of the vehicle 100 by the transportation device 500 after the remote control is stopped, for example.

[0034] The following instruction unit 326 outputs an instruction to delay the timing at which the following vehicle arrives at the transport device 500, for example, when an abnormality occurs in the transport of the vehicle 100 by the transport device 500 after the remote control is stopped. The "following vehicle" is a vehicle that is scheduled to be transported by the transport device 500 after the vehicle 100 or later.

[0035] The vehicle information acquisition unit 328 acquires vehicle identification information of the vehicle 100 to be transported by the transport device 500 from a production management device or the like. "Vehicle identification information" refers to various information that can individually identify the vehicle 100. Examples of the vehicle identification information include ID information assigned to each vehicle 100, such as a vehicle identification number (VIN), and the serial number of the vehicle 100 used for production management. The vehicle identification information may also include specification information of the vehicle 100, such as the vehicle model, color, and shape. The vehicle identification information is not limited to information for identifying a single vehicle 100, but may also include information for identifying multiple vehicles 100 in a predetermined unit, such as a lot number. The vehicle identification information can be acquired, for example, via short-range wireless communication from a radio frequency identification (RF-ID) tag attached to the vehicle 100. The vehicle identification information may also be acquired by reading a two-dimensional code attached to the vehicle 100 with a camera or the like.

[0036] 1, the transport device 500 includes a conveyor unit 510, a motor 522, a transport speed detector 524, a plurality of transport position detectors 526, and the transport control device 400. The motor 522 is controlled by the transport control device 400 to drive the conveyor unit 510.

[0037] The conveyor unit 510 conveys the vehicle 100, which is the object of conveyance, in the conveyance direction DR. In this embodiment, the conveyor unit 510 is a belt conveyor having a circular endless belt, and conveys the vehicle 100 while it is grounded on the endless belt. The conveyor unit 510 is not limited to a belt conveyor, and may be various conveyors capable of conveying the vehicle 100, such as a roller conveyor or a chain conveyor. The conveyor unit 510 is continuously driven regardless of whether the vehicle 100 is present on the conveyor unit 510. However, the conveyor unit 510 may be driven only when the vehicle 100 is placed on the conveyor unit 510. The object of conveyance conveyed by the conveyor unit 510 is not limited to the vehicle 100; for example, workers who perform processing on the vehicle 100, parts of the vehicle 100, etc. may be conveyed together with the vehicle 100. Furthermore, the vehicle 100 does not need to be transported with all of its wheels 166 in contact with the conveyor unit 510; it may be transported with only the wheels 166 on either side of the vehicle width direction in contact. The conveyor unit 510 is not limited to a device that transports the vehicle 100 in a grounded state, but may also be a device that transports the vehicle 100 in a state where the vehicle 100 is not grounded, such as a so-called lifter, on the premise that the vehicle 100 is brought into a runnable state by remote control when the conveyor unit 510 starts and ends its transport. The vehicle 100 on the conveyor unit 510 can be automatically driven by remote control and can leave the conveyor unit 510 at any timing.

[0038] The conveyance speed detector 524 detects the conveyance speed of the vehicle 100 on the conveyor unit 510. The conveyance position detector 526 detects the presence or absence of the vehicle 100 on the conveyor unit 510. The conveyance position detector 526 is, for example, an infrared sensor, an ultrasonic sensor, a millimeter-wave radar, or any other detector capable of detecting the presence or absence of a target. In this embodiment, there are multiple conveyance position detectors 526, and multiple conveyance information acquisition units 318 are installed for each predetermined conveyance section of the conveyance system 600, thereby making it possible to detect the presence or absence of the vehicle 100 for each conveyance section. The detection results of the conveyance speed detector 524 and the conveyance position detector 526 are output to the conveyance control device 400. Note that if the conveyance speed and conveyance position are not used to determine whether to stop remote control, the conveyance speed detector 524 and the conveyance position detector 526 may be omitted.

[0039] FIG. 1 schematically shows the transport zones of the vehicle 100 from range AR1 to range AR5. Also shown in FIG. 1 are vehicles 100p, 100q, 100r, 100s, and 100t, which are examples of the vehicle 100, and vehicle detectors 80p and 80t, which are examples of the vehicle detector 80. The ranges AR1 and AR5 are transport zones where the vehicle 100 automatically travels under remote control. In the range AR1, the vehicle 100p, which has started traveling from the previous process, travels to the transport device 500 under remote control using vehicle information acquired from the vehicle detector 80p. The range AR5 is a transport zone where the vehicle 100t, which has left the transport system 600, travels to the next process or the like under remote control using vehicle information acquired from the vehicle detector 80p.

[0040] The range AR2 to the range AR4 is a transport section for the vehicle 100 by the transport device 500. The range AR2 is a transport start position where transport of the vehicle 100 by the transport device 500 begins. In the range AR2, the transport method for the vehicle 100 is switched from self-propelled transport by remote control to conveyor transport by the transport device 500. As shown on the left side of FIG. 1, the vehicle 100p traveling by remote control passes over the starting point SP on one end of the conveyor unit 510 and enters the range AR2. The vehicle 100q that has reached the range AR2 is ready to be transported by the conveyor unit 510.

[0041] The range AR3 is an area where predetermined processes, such as an inspection process, are performed on the vehicle 100r being transported by the transport device 500. In this embodiment, the range AR3 is outside the detection range of the vehicle detector 80, and the vehicle 100r is not automatically driven by remote control. However, within the range AR3, the vehicle 100r may be capable of wireless communication with the remote control device 300, and remote control without using vehicle information, such as powering on and off the vehicle 100 or each component, may be performed. Alternatively, the range AR3 may be set within the detection range of the vehicle detector 80, and remote control using vehicle information may also be performed within the range AR.

[0042] The range AR4 is the area where the transport of the vehicle 100 by the transport device 500 ends. The vehicle 100 reaches the range AR4 after completing the process in the range AR3. In the range AR4, the vehicle 100s can be detected by the vehicle detector 80t. That is, in the range AR4, remote-controlled self-propelled transport becomes possible, and the vehicle 100s can be automatically driven away from the conveyor unit 510. In this embodiment, the range AR4 is set in advance as a range extending a predetermined distance from the end point EP on the other end of the conveyor unit 510. This "predetermined distance" is determined, for example, based on the range within which the vehicle detector 80t can detect the vehicle 100t. However, the range AR4 can also be any range from the position where the process for the vehicle 100r in the range AR3 is completed to the end point EP, provided that the vehicle detector 80t can detect the vehicle 100t. In this case, the size of the range AR4 is variable depending on the progress of the process for the vehicle 100 in the range AR3.

[0043] 4B is a block diagram showing the internal functional configuration of the transportation control device 400. The transportation control device 400 includes a CPU 410 as a central processing unit, a storage device 440, an interface circuit 450, and a transportation communication device 490. The CPU 410, the storage device 440, and the interface circuit 450 are connected via an internal bus to enable bidirectional communication. The interface circuit 450 is connected to the transportation communication device 490. The transportation communication device 490 communicates with the remote control device 300 and the vehicle 100 via a network or the like.

[0044] The storage device 440 is, for example, a RAM, a ROM, a HDD, or an SSD. A conveying speed CV detected by a conveying speed detector 524 and a vehicle position VP detected by a conveying position detector 526 are stored in a readable / writable area of ​​the storage device 440. A program for realizing at least some of the functions provided in this embodiment is stored in the storage device 440. The CPU 410 executes the program to function as a conveyor control unit 412 and a conveying status acquisition unit 414. The conveyor control unit 412 drives a motor 522 to control the on / off state and conveying speed of the conveyor unit 510.

[0045] The conveyance status acquisition unit 414 acquires conveyance status information. Specifically, the conveyance status acquisition unit 414 acquires the position of the vehicle 100 in the conveyance section of the conveyance device 500, i.e., the vehicle position, from the conveyance position detector 526 and stores it as the vehicle position VP in the storage device 440. The position of the vehicle 100 in the conveyance section may be acquired using the vehicle detector 80. The conveyance status acquisition unit 414 acquires the conveyance speed CV of the vehicle 100 by the conveyance device 500 from the conveyance speed detector 524 and stores it as the conveyance speed CV in the storage device 440. Note that if the conveyance speed and conveyance position are not used in the determination by the remote control determination unit 316 of whether to stop remote control, the conveyance status acquisition unit 414 may be omitted.

[0046] 5 is a flowchart showing a conveyance switching method for the vehicle 100 according to the first embodiment of the present disclosure. This flow starts when the vehicle 100, which has completed processing in the previous process, starts traveling toward the conveyance device 500. In the following, to facilitate understanding of the technique, the description will be made with reference to FIG. 1 as appropriate.

[0047] In step S10, the remote control unit 312 remotely controls the vehicle 100p to automatically travel toward the conveyance device 500, as shown by the area AR1 in FIG. 1 . More specifically, the remote control unit 312 generates a control command for remote control using the position and orientation of the vehicle 100p estimated by the position estimation unit 314, and transmits the control command to the vehicle 100p. When the vehicle 100p arrives at the conveyance device 500, the remote control unit 312 remotely controls the vehicle 100p to travel over the start point SP of the conveyor unit 510 using vehicle information acquired from the vehicle detector 80p. Note that, before the conveyance device 500 starts conveyance, the conveyance control device 400 acquires vehicle identification information from the vehicle 100p that has arrived at the conveyance device 500 and compares it with the vehicle identification information of the vehicle to be conveyed in production management. However, this comparison may be omitted, and if vehicle identification information is not used, the vehicle information acquisition unit 328 may be omitted.

[0048] In step S20, the remote control unit 312 remotely controls the vehicle 100 on the conveyor unit 510 to automatically travel to the transfer start position within range AR2. In step S30, as shown by vehicle 100q in FIG. 1, when the estimated position of vehicle 100q acquired by vehicle detector 80t reaches the transfer start position, the remote control determination unit 316 determines to stop the remote control.

[0049] In step S40, the remote control unit 312 remotely controls the lock unit 164 of the vehicle 100 to switch the function of the transmission unit 162 to the P range. The remote control unit 312 may also switch the function of the transmission unit 162 to the N range instead of the P range. In this case, it is preferable that the remote control unit 312 further remotely controls the electric parking brake (EPB) or the like to reliably stop the vehicle 100. In step S50, the remote control unit 312 stops the remote control of the vehicle 100.

[0050] Fig. 6 is an explanatory diagram that shows a schematic diagram of a method for stopping remote control at the transfer start position. Fig. 6 shows an enlarged view of the vicinity of the start point SP in the transfer section of the transfer device 500. The vehicle 100Q1 travels under the remote control of the remote control unit 312, passes over the start point SP, enters the conveyor unit 510, and arrives at the transfer start position.

[0051] The transfer start position is not limited to a predetermined fixed position and can be set using a predetermined range. For example, the transfer start position can be set using any range included in the transfer section of the transfer device 500, assuming that the vehicle 100Q1 can reach the transfer start position by remote-controlled automatic driving. The phrase "vehicle 100Q1 has arrived at the transfer start position" means that the vehicle 100Q1 is in a state where it can be transferred by the transfer device 500. For example, the entire vehicle 100Q1 does not have to be included in the range AR2. For example, a portion of the rear side of the vehicle 100Q1 may deviate from the start point SP. The transfer start position may be set using a range wider than these ranges, taking into account errors in the stopping position of the vehicle 100 due to remote control. However, from the perspective of miniaturizing the conveyor unit 510, it is preferable that the range of the transfer start position is small. Furthermore, the transfer start position may be set individually for each vehicle corresponding to the vehicle identification information, taking into account differences in size between vehicle types.

[0052] In this embodiment, the transfer start position is set in advance as a range from the start point SP to a predetermined distance D1. The predetermined distance D1 is set in advance based on, for example, a range included in the transfer section of the transfer device 500 and in which the vehicle detector 80p can detect the vehicle 100Q1. In the example of FIG. 6, the transfer start position coincides with the range AR2 and is set in a range that can include the vehicle 100Q1.

[0053] As shown in FIG. 6, when the vehicle 100Q1 reaches the transfer start position, it becomes ready to be transferred by the conveyor unit 510. When the vehicle 100Q1 reaches the transfer start position, the remote control determination unit 316 determines to stop remote control of the vehicle 100Q1. In this embodiment, whether the vehicle 100Q1 has arrived at the range AR2 can be determined using the estimated position of the vehicle 100Q1 relative to the start point SP in the 3D point cloud data acquired by the vehicle detector 80p. However, whether the vehicle 100Q1 has arrived at the range AR2 may also be detected based on the detection result of the transfer position detector 526 installed in the range AR2 as to whether the vehicle 100Q1 is present in the range AR2.

[0054] In this embodiment, before stopping the remote control, the remote control unit 312 remotely controls the lock unit 164 shown in FIG. 2 to switch the function of the transmission unit 162 to the P range. As a result, the transmission mechanism of the transmission unit 162 is locked, and the vehicle 100Q1 is stopped from traveling. The remote control unit 312 may also turn off the power supply to the vehicle 100Q1 or the power supply to any component of the vehicle 100Q1. When the remote control unit 312 switches the vehicle 100Q1 to the stopped state, the remote control unit 312 stops the remote control of the vehicle 100Q1. In this embodiment, stopping the remote control of the vehicle 100q can be achieved by stopping the generation of control commands by the remote control device 300 or by stopping the transmission of control commands to the vehicle 100q.

[0055] In this way, by stopping the remote control of the vehicle 100 while it is being transported by the transport device 500, it is possible to reduce power consumption of the remote control device 300 and the like, and also to reduce the processing burden on devices mounted on the vehicle 100Q1, such as the remote control device 300 and other control devices. Furthermore, by stopping the traveling of the vehicle 100Q1 while it is being transported by the transport device 500, it is possible to reduce power consumption of the vehicle 100Q1. Furthermore, by stopping the traveling of the vehicle 100Q1, for example, an operator can smoothly inspect the electrical system, engine room, etc. of the vehicle 100Q1 while the vehicle 100Q1 is being transported.

[0056] Returning to FIG. 5, in step S60, the transport control device 400 controls the motor 522 to drive the conveyor unit 510, thereby starting the transport of the vehicle 100. In step S100, the transport instruction unit 322 checks whether the vehicle 100 is being transported by the transport device 500. That is, it checks whether there is an abnormality in the transport by the transport device 500. Whether the vehicle 100 is being transported by the transport device 500 can be detected, for example, by the presence or absence of vehicles 100q, 100r acquired by a transport position detector 526 provided in the range AR2 or range AR3 shown in FIG. 2, or by vehicle information acquired by a vehicle detector 80t.

[0057] If transportation of the vehicle 100 is detected (S100: YES), the remote control unit 312 proceeds to step S200. If transportation of the vehicle 100 is not detected (S100: NO), the remote control unit 312 proceeds to step S110 and executes various abnormality measures. Note that the following steps S110 to S140 may be executed in any order or simultaneously.

[0058] In step S110, the transport instructing unit 322 outputs an instruction to the transport control device 400 to stop the transport of the vehicle 100 by the transport device 500, as an example of an abnormality measure. The transport control device 400, which has received the stop instruction, stops the conveyor unit 510 by stopping the motor 522, etc., and stops the transport of the vehicle 100. Note that, in cases where the transport abnormality can be resolved quickly, the transport instructing unit 322 may output an instruction to reduce the transport speed of the vehicle 100 by the transport device 500, instead of stopping the transport device 500.

[0059] In step S120, the notification unit 324 notifies the operator who performs work on the vehicle 100 on the conveyor unit 510, the manager of the process, or the manager of the transport system 600, that movement of the vehicle 100 has not been detected, that an emergency measure has been taken, etc. The notification unit 324 notifies the operator who performs work on the vehicle 100 on the conveyor unit 510, the manager of the process, or the manager of the transport system 600, for example.

[0060] In step S130, the following instruction unit 326 outputs an instruction to delay the timing at which the following vehicle arrives at the conveyance device 500. The following instruction unit 326 can output the instruction to, for example, a process management device for a previous process, a production management device that oversees each process, or a remote control device that remotely controls the running of the following vehicle. The following instruction unit 326 delays the timing at which the following vehicle arrives, for example, according to a delay time relative to the target production time. By delaying the arrival of the following vehicle, it is possible to prevent the following vehicle from arriving at the conveyance device 500 before the conveyance device 500 is restored, thereby suppressing or preventing an increase in work-in-process products waiting to be conveyed by the conveyance device 500, and suppressing a decrease in production efficiency.

[0061] In step S140, the transport instruction unit 322 outputs an instruction to the transport control device 400 to operate the stopped transport device 500. As a result, transport of the vehicle 100 by the transport device 500 is resumed. If an instruction to reduce the transport speed CV of the vehicle 100 has been output instead of stopping the transport device 500, the transport instruction unit 322 may output an instruction to the transport control device 400 to return the reduced transport speed CV to the original transport speed CV. In order to eliminate delays relative to the target production time, the transport speed CV may be set to a transport speed faster than the transport speed before resumption. In addition, the following instruction unit 326 restores the traveling of the delayed following vehicle to normal traveling.

[0062] In step S200, the remote control unit 312 detects that the vehicle 100 has reached an area where the vehicle 100 can be transported by remote control. Whether the vehicle 100 has reached an area where the vehicle 100 can be remotely controlled can be detected from, for example, the transport position detector 526 provided in the range AR4 shown in FIG. 1 or vehicle information acquired by the vehicle detector 80t.

[0063] In step S220, the remote control unit 312 begins remote control of the vehicle 100 that has reached a remotely controllable area. In step S230, the remote control unit 312 remotely controls the transmission unit 162 to switch its function to D range, thereby starting the vehicle 100 to travel under remote control. Specifically, the remote control unit 312 activates the lock unit 164 to release the transmission mechanism of the transmission unit 162, thereby switching the vehicle 100 to a travelable state. As shown by the range AR4 in FIG. 1 , the remote control device 300 uses vehicle information acquired from the vehicle detector 80t to generate a control command for automatically driving the vehicle 100s and transmits the control command to the vehicle 100s. In step S240, the remote control unit 312 remotely controls the vehicle 100s to leave the conveyor unit 510, thereby ending this flow. The vehicle 100t that has left the transport device 500 is then automatically driven to the next process.

[0064] As described above, the remote control device 300 of this embodiment includes a remote control determination unit 316 that determines whether to stop remote control and thereby stop driving control of the vehicle 100, using the transportation start position of the vehicle 100 in the transportation device 500 and the vehicle position, which is the position of the vehicle 100 in the transportation section by the transportation device 500. This allows for smooth switching from a transportation method that uses remotely controlled travel of the vehicle 100 to a transportation method of the vehicle 100 by the transportation device 500. Furthermore, by stopping remote control during transportation, it is possible to reduce power consumption and processing load on the remote control device 300 and the like during transportation by the transportation device 500.

[0065] According to the remote control device 300 of this embodiment, the remote control determination unit 316 determines to stop remote control when the estimated position of the vehicle 100 acquired by the position estimation unit 314 has reached the transfer start position. The vehicle 100 can be caused to reach the transfer start position of the conveyance device 500, and whether the vehicle 100 has been placed at the transfer start position can be determined by the vehicle detector 80 and the remote control device 300, without using each unit of the conveyance device 500. Therefore, by stopping remote control at the transfer start position of the conveyance device 500, power consumption and processing load of the remote control device 300, etc. can be reduced during conveyance by the conveyance device 500, and the conveyance method can be switched efficiently.

[0066] According to the remote control device 300 of this embodiment, the remote control unit 312 stops remote control by either stopping the generation of control commands or stopping the transmission of the generated control commands to the vehicle 100. Therefore, remote control can be stopped in a simpler way than by turning off the power to the remote control device 300 or the vehicle 100, thereby reducing the processing burden during transportation by the transporting device 500. Furthermore, remote control can be easily resumed when transportation of the vehicle 100 by the transporting device 500 is completed.

[0067] According to the remote control device 300 of this embodiment, when the remote control determination unit 316 determines to stop the remote control, the remote control unit 312 switches the state to either an N range state in which power from the traction motor 168 is not transmitted to the wheels 166 of the vehicle 100, or a P range state in which the transmission unit 162 for transmitting power from the traction motor 168 to the wheels 166 is fixed, and then stops the remote control. By switching the vehicle 100 to a state in which it cannot travel before being transported by the transport device 500, it is possible to suppress or prevent the vehicle 100 from shifting in position during transport by the transport device 500.

[0068] The remote control device 300 of this embodiment further includes a succeeding instruction unit 326 that, if the vehicle 100 is not transported by the transporting device 500 after the remote control is stopped, outputs an instruction to delay the timing at which the following vehicle, which is scheduled to be transported by the transporting device 500 after the vehicle 100, arrives at the transporting device 500. This makes it possible to prevent the following vehicle from colliding with the vehicle 100 that has stopped at the transport start position without starting transport by the transporting device 500.

[0069] The remote control device 300 of this embodiment further includes a notification unit 324 that issues a notification when the vehicle 100 is not transported by the transport device 500 after remote control is stopped. This can prompt the transport device 500 to take measures to deal with the transport abnormality, and can prompt the transport device 500 to recover quickly.

[0070] The remote control device 300 of this embodiment further includes a transport instruction unit 322 that outputs an instruction to stop the transport of the vehicle 100 by the transport device 500 if the vehicle 100 is not transported by the transport device 500 after remote control is stopped. If the transport device 500 is unable to transport the vehicle 100, stopping the transport by the transport device 500 can ensure time to take measures to deal with the abnormality.

[0071] B. Second embodiment: FIG. 7 is a flowchart showing a method for transporting a vehicle 100 according to a second embodiment. The transport method according to this embodiment differs from the transport method according to the first embodiment shown in FIG. 5 in that steps S40 and S230 are omitted. In the first embodiment, when the remote control determination unit 316 determines that the remote control should be stopped, the function of the transmission unit 162 is switched to the P range and then the remote control is stopped. In contrast, for example, if the movement of the vehicle 100 is restricted by a fixture or the like for fixing the vehicle 100 during transport by the transport device 500, the remote control may be stopped without switching the function of the transmission unit 162, as in this embodiment.

[0072] The transport method of this embodiment also differs from the transport method of the first embodiment in that the processes from step S100 to step S140 are omitted. Specifically, in the first embodiment, an example was shown in which abnormality measures from step S110 to step S140 are executed when the transport device 500 does not transport the vehicle 100 after remote control is stopped. In contrast, as in this embodiment, the processes from step S100 to step S140 may be omitted so that these abnormality measures are not executed. However, any one of abnormality measures such as stopping the transport device 500, issuing a warning by the warning unit 324, or outputting an instruction to delay the arrival timing of the following vehicle, or any combination of these abnormality measures, may be executed.

[0073] The transport method of this embodiment also differs from the transport method of the first embodiment in that steps S300 to S340 are added after step S30. Specifically, when the remote control determination unit 316 determines to stop remote control in step S30, the process proceeds to step S300. In step S300, the remote control determination unit 316 further checks the transport speed CV of the vehicle 100 by the transport device 500 and compares it with the reference speed SV. If the checked transport speed CV is slower than the reference speed SV (S300: YES), the remote control unit 312 proceeds to step S50. The remote control unit 312 may check the transport time instead of the transport speed CV, and proceed to step S50 if the transport time is longer than the reference transport time. In step S50, the remote control unit 312 stops remote control of the vehicle 100 using the same method as in the first embodiment. More specifically, the remote control unit 312 stops the movement of the vehicle 100 by stopping the generation of control commands for remotely controlling the vehicle 100 or by stopping the transmission of the generated control commands to the vehicle 100, without turning off the power to the vehicle 100.

[0074] If the conveying speed CV is equal to or greater than the reference speed SV (S300: NO), the remote control unit 312 proceeds to step S310 and remotely controls the vehicle 100 to turn off its power. "Turning off the power of the vehicle 100" means turning off the ignition or engine of the vehicle 100. In step S320, the remote control unit 312 stops remote control of the vehicle 100. In this case, stopping the remote control may be achieved by turning off the power of the vehicle 100 in step S320, or, as in the first embodiment, by stopping the remote control unit 312 from generating control commands for remotely controlling the vehicle 100 or from transmitting the generated control commands to the vehicle 100. In step S322, the conveyance control device 400 controls the motor 522 to drive the conveyor unit 510 and starts conveying the vehicle 100.

[0075] In step S330, the vehicle 100 is transported by the transport device 500 and arrives at a remote control preparation start position. The "remote control preparation start position" is a position where advance preparation begins so that remote control can be performed at a predetermined position. In this embodiment, the "predetermined position" is any position within the range AR4, and the preparation start position is a position included in the range AR3. Note that the arrival of the vehicle 100 at the preparation start position can be detected by a transport position detector 526 provided in the range AR3, etc. If a vehicle detector 80 is provided in the range AR3, the arrival may also be detected by the vehicle detector 80. In step S340, the remote control unit 312 turns on the power of the vehicle 100 and starts control of each unit of the vehicle 100 and the remote control device 300 to begin preparation for remote control. By the time the vehicle 100 reaches an area where it can be transported by remote control, remote control preparation is completed, and the remote control unit 312 can begin remote control of the vehicle 100.

[0076] As described above, according to the remote control device 300 of this embodiment, when the remote control determination unit 316 determines to stop remote control, the remote control determination unit 316 further checks the transport speed CV of the vehicle 100 by the transport device 500. If the confirmed transport speed CV is slower than the predetermined reference speed SV, the remote control unit 312 turns off the power of the vehicle 100 and stops remote control. If the transport speed CV is equal to or greater than the reference speed SV, the remote control unit 312 stops remote control without turning off the power of the vehicle 100. If the transport time by the transport device 500 is long and there is sufficient preparation time to resume remote control, turning off the power of the vehicle 100 reduces the power consumption of the vehicle 100. If the transport time is short and there is sufficient preparation time to resume remote control, the remote control unit 312 can quickly resume remote control by stopping the remote control of the vehicle 100 using a simple method instead of turning off the power of the vehicle 100. Therefore, remote control can be stopped in an appropriate state for each transport time by the transport device 500.

[0077] C. Third embodiment: 9 is a block diagram showing the functional configuration of an ECU 200c in a vehicle 100 according to the third embodiment. In this embodiment, a conveyance system 600 differs from the first embodiment in that it does not include a remote control device 300. Specifically, it differs from the first embodiment in that an ECU 200c provided in the vehicle 100 has a function as a conveyance method switching device instead of the remote control device 300. The other configurations of the conveyance system 600 are the same as those of the first embodiment unless otherwise specified.

[0078] 8, the ECU 200c differs from the ECU 200 shown in the first embodiment in that it includes a CPU 210c instead of the CPU 210 and a storage device 220c instead of the storage device 220. Specifically, the storage device 220c stores programs for realizing functions corresponding to the position estimation unit 314, remote control determination unit 316, transport information acquisition unit 318, transport instruction unit 322, notification unit 324, subsequent instruction unit 326, and vehicle information acquisition unit 328 included in the remote control device 300 shown in the first embodiment, in addition to the functions of the CPU 210 shown in the first embodiment. As a result, the CPU 210c further functions as the position estimation unit 214, driving control determination unit 216, transport information acquisition unit 218, transport instruction unit 222, notification unit 224, subsequent instruction unit 226, and vehicle information acquisition unit 228 corresponding to these functions. The storage device 220c also stores the reference speed SV stored in the remote control device 300. In this embodiment, the driving control determination unit 216 determines whether to stop the automatic driving of the vehicle 100 under driving control, using the transfer start position of the conveyance device 500 and the vehicle position. The driving control determination unit 216 is an example of a movement control determination unit that determines whether to stop the movement control, using the transfer start position and the moving body position. The driving control determination unit 216 also functions as a command generation unit that generates a control command to stop the driving control and outputs it to the driving control unit 212 when it is determined that the automatic driving under driving control should be stopped. According to the vehicle 100 configured in this manner, the vehicle 100 is provided with the function of a transportation method switching device, so that it is possible to smoothly switch from a transportation method using the traveling of the vehicle 100 under remote control to a transportation method of the vehicle 100 using the transportation device 500, without using a device separate from the vehicle 100, such as the remote control device 300.

[0079] FIG. 9 is a flowchart showing a driving method of the vehicle 100 according to this embodiment. The position estimation unit 214 acquires the position and orientation of the vehicle 100 using vehicle information output from the vehicle detector 80 (step S410). The driving control unit 212 determines a target position to which the vehicle 100 should next move (step S420). In this embodiment, an ideal route is pre-stored in the storage device 220c of the ECU 200c. The driving control unit 212 generates a driving control signal for driving the vehicle 100 toward the determined target position (step S430). The driving control unit 212 controls the actuator 140 using the generated driving control signal, thereby causing the vehicle 100 to drive at the acceleration and steering angle indicated by the driving control signal (step S440). The driving control unit 212 repeatedly acquires the position and orientation of the vehicle 100, determines the target position, generates the driving control signal, and controls the actuator 140 at a predetermined cycle. According to the vehicle 100 of this embodiment, the vehicle 100 can be made to run under autonomous control without being remotely controlled by the remote control device 300.

[0080] D. Other Embodiments: (D1) In the above embodiments, the remote control determination unit 316 and the driving control determination unit 216 estimate the position of the vehicle 100 using vehicle information detected by the vehicle detector 80, and determine to stop remote control when the acquired estimated position reaches the transfer start position. In contrast, the remote control determination unit 316 and the driving control determination unit 216 may determine to stop remote control when the transfer start position is reached using the position of the vehicle 100 in the transfer section detected by the transfer position detector 526 or the like instead of the estimated position.

[0081] (D2) In the above embodiment, an example was shown in which the vehicle detector 80 was a LiDAR. However, instead of or in addition to the LiDAR, an external camera installed in a location different from the vehicle 100 can be used as the vehicle detector 80. In this case, the vehicle detector 80 acquires an image of the vehicle 100 as vehicle information. The position estimation unit 314 and the position estimation unit 214 can estimate the position and orientation of the vehicle 100 using the captured image acquired by the external camera. The position of the vehicle 100 can be acquired, for example, by calculating the coordinates of the positioning point of the vehicle 100 in an image coordinate system using the outer shape of the vehicle 100 detected from the captured image and converting the calculated coordinates into coordinates in a global coordinate system. The orientation of the vehicle 100 can be estimated based on the orientation of the movement vector of the vehicle 100 calculated from the positional changes of feature points of the vehicle 100 between frames of the captured image using, for example, an optical flow method. The orientation of the vehicle 100 may also be calculated using, for example, the output result of a yaw rate sensor or the like mounted on the vehicle 100.

[0082] The outer shape of the vehicle 100 contained in the captured image can be detected, for example, by inputting the captured image into a detection model that utilizes artificial intelligence. An example of the detection model is a trained machine learning model that has been trained to achieve either semantic segmentation or instance segmentation. This machine learning model can be, for example, a convolutional neural network (hereinafter, CNN) trained by supervised learning using a training dataset. The training dataset includes, for example, a plurality of training images including the vehicle 100 and correct labels indicating whether each region in the training image represents the vehicle 100 or a region other than the vehicle 100. During training of the CNN, it is preferable to update the parameters of the CNN using backpropagation (error backpropagation) to reduce the error between the output result of the detection model and the correct labels.

[0083] (D3) In the above embodiments, examples have been given in which the vehicle 100 is a passenger car, a truck, a bus, a construction vehicle, or the like. However, the vehicle 100 may be various types of moving body. A "moving body" refers to an object that can move, such as a car or an electric vertical take-off and landing aircraft (a so-called flying car). A vehicle may be a vehicle that runs on wheels or a vehicle that runs on tracks, such as a motorcycle, a four-wheeled vehicle, or a tank. Vehicles include electric vehicles (BEVs: Battery Electric Vehicles), gasoline-powered vehicles, hybrid vehicles, and fuel cell vehicles. When a moving body is other than a vehicle, the terms "vehicle" and "car" in this disclosure may be appropriately replaced with "moving body," and the term "traveling" may be appropriately replaced with "moving."

[0084] (D4) The vehicle 100 may have a configuration that allows it to travel by unmanned driving. For example, it may be in the form of a platform having the configuration described below. Specifically, the vehicle 100 may have at least the ECU 200, a drive unit, a steering unit, and a braking unit to perform the three functions of "running," "turning," and "stopping" by unmanned driving. When the vehicle 100 acquires information from the outside for unmanned driving, the vehicle 100 may further have the vehicle communication device 190. In other words, the vehicle 100 that can travel by unmanned driving may not be equipped with at least some of the interior parts such as the driver's seat and dashboard, may not be equipped with at least some of the exterior parts such as bumpers and fenders, and may not be equipped with a body shell. In this case, the remaining parts such as the body shell may be attached to the vehicle 100 before it is shipped from the factory, or the remaining parts such as the body shell may be attached to the vehicle 100 after it is shipped from the factory without the remaining parts such as the body shell attached to the vehicle 100. Each component may be attached from any direction, such as the upper, lower, front, rear, right or left side of the vehicle 100, and may be attached from the same direction or from different directions. Note that the position of the platform configuration may also be determined in the same manner as for the vehicle 100 in the first embodiment.

[0085] (D5) The vehicle 100 may be manufactured by any manufacturing method. For example, the vehicle 100 may be manufactured by combining multiple modules. A module refers to a unit composed of multiple parts grouped according to the location or function of the vehicle 100. For example, the platform of the vehicle 100 may be manufactured by combining a front module that forms the front part of the platform, a central module that forms the center part of the platform, and a rear module that forms the rear part of the platform. The number of modules that form the platform is not limited to three, but may be two or less, or four or more. In addition to or instead of the parts that form the platform, parts that form parts of the vehicle 100 that are not part of the platform may be modularized. The various modules may include any exterior parts such as a bumper or a grille, or any interior parts such as a seat or a console. In addition to the vehicle 100, any type of mobile object may be manufactured by combining multiple modules. Such a module may be manufactured, for example, by joining multiple parts by welding or fasteners, or by integrally molding at least some of the parts that form the module into a single part by casting. The molding method for integrally molding a single component, particularly a relatively large component, is also called gigacasting or megacasting. For example, the front module, center module, and rear module described above may be manufactured using gigacasting.

[0086] (D6) In the first embodiment, an example was shown in which the remote control device 300 executes the processes from acquiring the position and orientation of the vehicle 100 to generating the driving control signal. However, at least a part of the processes from acquiring the position and orientation of the vehicle 100 to generating the driving control signal may be executed by the vehicle 100. For example, the following forms (1) to (3) may be used.

[0087] (1) The remote control device 300 may acquire the position and orientation of the vehicle 100, determine a target position to which the vehicle 100 should next head, and generate a route from the current location of the vehicle 100, which is indicated by the acquired position, to the target position. The remote control device 300 may generate a route to a target position between the current location and the destination, or may generate a route to the destination. The remote control device 300 may transmit the generated route to the vehicle 100. The vehicle 100 may generate a driving control signal so that the vehicle 100 drives on the route received from the remote control device 300, and use the generated driving control signal to control the actuator 140.

[0088] (2) The remote control device 300 may acquire the position and orientation of the vehicle 100 and transmit the acquired position and orientation to the vehicle 100. The vehicle 100 may determine a target position to which the vehicle 100 should next head, generate a route from the current location of the vehicle 100 indicated in the received position to the target position, generate a driving control signal so that the vehicle 100 travels along the generated route, and control the actuator 140 using the generated driving control signal.

[0089] (3) In the above embodiments (1) and (2), the vehicle 100 may be equipped with an internal sensor, and detection results output from the internal sensor may be used for at least one of generating a route and generating a driving control signal. The internal sensor may include, for example, a camera, LiDAR, millimeter-wave radar, an ultrasonic sensor, a GPS sensor, an acceleration sensor, and a gyro sensor. For example, in the above embodiment (1), the remote control device 300 may acquire the detection results of the internal sensor and reflect the detection results of the internal sensor in the route when generating a route. In the above embodiment (1), the vehicle 100 may acquire the detection results of the internal sensor and reflect the detection results of the internal sensor in the driving control signal when generating a driving control signal. In the above embodiment (2), the vehicle 100 may acquire the detection results of the internal sensor and reflect the detection results of the internal sensor in the route when generating a route. In the above embodiment (2), the vehicle 100 may acquire the detection results of the internal sensor and reflect the detection results of the internal sensor in the route when generating a route.

[0090] (D7) In the second embodiment, the vehicle 100 may be equipped with an internal sensor, and the detection results output from the internal sensor may be used for at least one of generating a route and generating a driving control signal. For example, the vehicle 100 may acquire the detection results of the internal sensor and, when generating a route, reflect the detection results of the internal sensor in the route. The vehicle 100 may acquire the detection results of the internal sensor and, when generating a driving control signal, reflect the detection results of the internal sensor in the driving control signal.

[0091] (D8) In the second embodiment, the vehicle 100 acquires the position and orientation of the vehicle 100 using the detection results of the vehicle detector 80. Alternatively, the vehicle 100 may be equipped with an internal sensor, which acquires the position and orientation using the detection results of the internal sensor, determines a target position to which the vehicle 100 should next travel, generates a route from the current location of the vehicle 100 represented by the acquired position and orientation to the target position, generates a travel control signal for traveling along the generated route, and controls the actuator 140 using the generated travel control signal. In this case, the vehicle 100 can travel without using any of the detection results of the vehicle detector 80. The vehicle 100 may acquire a target arrival time and traffic congestion information from outside the vehicle 100 and reflect the target arrival time and traffic congestion information in at least one of the route and the travel control signal. Furthermore, the configuration of the transport system 600 and the functional configuration of the remote control device 300 may all be provided in the vehicle 100. In other words, the processes performed by the conveying system 600 and the remote control device 300 shown in the present disclosure, such as the process of switching at least one device provided in the vehicle 100 from a standby state to an operating state, may be performed by the vehicle 100 alone.

[0092] (D9) In the first embodiment described above, the remote control device 300 automatically generates a driving control signal to be transmitted to the vehicle 100. In contrast, the remote control device 300 may generate a driving control signal to be transmitted to the vehicle 100 in accordance with the operation of an operator located outside the vehicle 100. For example, the operator may operate a control device including a display that displays an image output from the vehicle detector 80, a steering wheel, an accelerator pedal, a brake pedal for remotely operating the vehicle 100, and a communication device for communicating with the remote control device 300 via wired or wireless communication, and the remote control device 300 may generate a driving control signal in accordance with the operation applied to the control device.

[0093] (D10) Transporting vehicles using unmanned vehicle driving is also called "self-propelled transport." The configuration for realizing self-propelled transport is also called a "vehicle remote-controlled autonomous transport system." A production method for producing vehicles using self-propelled transport is also called "self-propelled production." In self-propelled production, for example, at a factory where vehicles are manufactured, at least a portion of the vehicle transport is realized by self-propelled transport.

[0094] (D11) Some or all of the functions of the conveyor control unit 412 and the like realized by the transport control device 400 shown in each of the above embodiments may be realized by the remote control device 300. In other words, the transport system 600 may be configured by the remote control device 300 alone.

[0095] The control and methods described herein may be implemented by a special-purpose computer configured with a processor and memory programmed to perform one or more functions embodied in a computer program. Alternatively, the control unit and methods described herein may be implemented by a special-purpose computer configured with a processor comprising one or more dedicated hardware logic circuits. Alternatively, the control unit and methods described herein may be implemented by one or more special-purpose computers configured with a processor and memory programmed to perform one or more functions in combination with a processor configured with one or more hardware logic circuits. Furthermore, the computer program may be stored in a computer-readable non-transitory tangible storage medium as instructions executed by a computer.

[0096] The present disclosure is not limited to the above-described embodiments and can be realized in various configurations without departing from the spirit thereof. For example, the technical features in the embodiments corresponding to the technical features in each aspect described in the Summary of the Invention section can be appropriately replaced or combined to solve some or all of the above-described problems or achieve some or all of the above-described effects. Furthermore, if a technical feature is not described as essential in this specification, it can be appropriately deleted. [Explanation of symbols]

[0097] 80, 80p, 80t... vehicle detector, 100, 100Q1, 100p, 100q, 100r, 100s, 100t... vehicle, 140... actuator, 160... drive device, 162... transmission unit, 164... lock unit, 166... ​​wheel, 168... running motor, 190... vehicle communication device, 200, 200c... ECU, 210, 210c, 310, 410... CPU, 212... driving control unit, 214... position estimation unit, 216... driving control determination unit, 218... transportation information acquisition unit, 222... transportation instruction unit, 224... notification unit, 226... subsequent instruction unit, 228... vehicle information acquisition unit, 220, 220c, 340, 440... storage device, 230, 350, 450...interface circuit, 300...remote control device, 312...remote control unit, 314...position estimation unit, 316...remote control judgment unit, 318...transport information acquisition unit, 322...transport instruction unit, 324...alarm unit, 326...subsequent instruction unit, 328...vehicle information acquisition unit, 390...remote communication device, 400...transport control device, 412...conveyor control unit, 414...transport status acquisition unit, 490...transport communication device, 500...transport device, 510...conveyor unit, 522...motor, 524...transport speed detector, 526...transport position detector, 600...transport system, CV...transport speed, EP...end point, SP...start point, SR...travel path, SV...reference speed, VP...vehicle position

Claims

1. A conveying method switching device, a position estimation unit that estimates a position of the vehicle using moving body information detected by a moving body detector that detects moving body information of at least one of an image of a vehicle that can move by unmanned driving and three-dimensional point cloud data of the vehicle; a command generation unit that generates and outputs a control command for automatically moving the vehicle by movement control using the estimated position of the vehicle; a movement control determination unit that determines whether to stop the movement control using a transportation start position of the vehicle in a transportation device that can transport the vehicle in a predetermined transportation section and a moving body position that is the position of the vehicle in the transportation section, the moving body position including the estimated position; The command generation unit stops the movement control when the movement control determination unit determines that the movement control should be stopped. Conveying method switching device.

2. The transport method switching device according to claim 1 , wherein the movement control determination unit determines to stop the movement control when the acquired estimated position reaches the transport start position.

3. The conveying method switching device according to claim 1, the command generation unit stops the movement control by either stopping generation of the control command or stopping transmission of the generated control command to the vehicle. Conveying method switching device.

4. The conveying method switching device according to any one of claims 1 to 3, When the movement control determination unit determines that the movement control should be stopped, the command generation unit switches to either a state in which power from a prime mover is not transmitted to a movement unit for moving the vehicle or a state in which a transmission unit for transmitting power from the prime mover to the movement unit is fixed, and then stops the movement control. Conveying method switching device.

5. The conveying method switching device according to claim 1, Further, a transport information acquisition unit is provided to acquire a transport speed of the vehicle transported by the transport device, the movement control determination unit further checks the acquired conveying speed when it is determined by the movement control determination unit to stop the movement control; The command generation unit If the confirmed transport speed is slower than a predetermined reference speed, the power supply to the vehicle is turned off and the movement control is stopped; If the confirmed transport speed is equal to or greater than the reference speed, the power supply to the vehicle is not turned off, and the movement control is stopped. Conveying method switching device.

6. The conveying method switching device according to claim 1, Further, a subsequent instruction unit is provided that, when the vehicle is not transported by the transport device after the movement control is stopped, outputs an instruction to delay the timing at which a subsequent vehicle that is scheduled to be transported by the transport device after the vehicle arrives at the transport device. Conveying method switching device.

7. The conveying method switching device according to claim 1, Further, a notification unit is provided that notifies the user when the vehicle is not transported by the transport device after the movement control is stopped. Conveying method switching device.

8. The conveying method switching device according to claim 1, Further, a transport instruction unit is provided that outputs an instruction to stop the transport of the vehicle by the transport device when the vehicle is not transported by the transport device after the movement control is stopped. Conveying method switching device.

9. A transportation switching method, estimating the position of the vehicle using moving object information of at least one of an image of the vehicle that can move by unmanned driving and three-dimensional point cloud data of the vehicle; determining whether to stop the movement control of the vehicle using a transportation start position of the vehicle in a transportation device capable of transporting the vehicle in a predetermined transportation section and a mobile body position that is the position of the vehicle in the transportation section, the mobile body position including the estimated position of the vehicle; When it is determined that the movement control should be stopped, the movement control is stopped. Transport switching method.

10. A vehicle that can move by unmanned driving, a position estimation unit that estimates a position of the vehicle using moving object information detected by a moving object detector that detects moving object information of at least one of an image of the vehicle and three-dimensional point cloud data of the vehicle; a command generation unit that generates and outputs a control command for automatically moving the vehicle by movement control using the estimated position of the vehicle; a movement control determination unit that determines whether to stop the movement control using a transportation start position of the vehicle in a transportation device that can transport the vehicle in a predetermined transportation section and a moving body position that is the position of the vehicle in the transportation section, the moving body position including the estimated position; The command generation unit stops the movement control when the movement control determination unit determines that the movement control should be stopped. vehicle.

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