Control device, server device, mobile body, mobile body control system, control method, and cart control system

Abstract

To suppress displacement in movement control of a moving body due to external force applied during component attachment and changes in weight.SOLUTION: A control device that controls a movement of a mobile body which is carried in the production process of the mobile body, capable of traveling by unmanned driving, includes a control command unit that generates and outputs a control command to move the mobile body. The control command unit generates the control command by utilizing vehicle state information, which is information related to at least one of: the magnitude of an impact applied to the mobile body; the direction in which the impact acts; the weight of the mobile body; the weight of a trailer configured to carry a component and configured to be removably coupled to the mobile body and move, the component being configured to be attached to the mobile body; and the process step in which the mobile body is positioned.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a control device, a database, a server device, a mobile body, a mobile body control system, a control method, a bogie, and a bogie control system. [Background technology]

[0002] BACKGROUND ART In a vehicle manufacturing process, a technology for remotely controlling a vehicle to operate unmanned is known (for example, Patent Document 1). [Prior art documents] [Patent documents]

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

[0004] Vehicles in the middle of manufacturing have the problem that external forces applied during the parts installation process and weight changes accompanying the parts installation can cause deviations in the movement control of the unmanned vehicle. This problem is not limited to vehicles, but is common to any moving object. [Means for solving the problem]

[0005] The technology of the present disclosure can be realized in the following forms. [Form 1] A control device that controls the movement of a mobile body that is transported in a manufacturing process of a mobile body that can travel by unmanned operation, the control device comprising a control command unit that generates and outputs a control command for moving the mobile body, wherein the control command unit generates the control command using vehicle status information that is information related to at least one of the magnitude of an impact force applied to the mobile body, the direction in which the impact force acts, the weight of the mobile body, the weight of a carriage that stores parts to be attached to the mobile body and moves while being detachably connected to the mobile body, and the process in which the mobile body is located, and the control command unit uses the vehicle status information to generate the control command so as to suppress changes in the speed of the mobile body that change due to at least one of the impact force, the attachment of the parts to the mobile body, the connection of the carriage to the mobile body, and the release of the connection between the carriage and the mobile body. [Form 2] A control device that controls the movement of a mobile body that is transported in a manufacturing process of a mobile body that can travel by unmanned operation, the control device comprising: a control command unit that generates and outputs a control command for moving the mobile body, wherein the control command unit generates the control command using vehicle state information that is information related to at least one of the magnitude of an impact force applied to the mobile body, the direction in which the impact force acts, the weight of the mobile body, the weight of a carriage that stores parts to be attached to the mobile body and is moved by being detachably connected to the mobile body, and a process in which the mobile body is located, and the control command unit generates the control command using the vehicle state information to suppress changes in the direction of travel of the mobile body that change due to at least one of the impact force, the attachment of the parts to the mobile body, the connection of the carriage to the mobile body, and the release of the connection between the carriage and the mobile body. [Mode 3] A control device that controls the movement of a mobile body that is transported in a manufacturing process of a mobile body that can travel by unmanned operation, the control device comprising: a control command unit that generates and outputs a control command for moving the mobile body, the control command unit generating the control command using vehicle state information that is information about at least one of the magnitude of an impact force applied to the mobile body, the direction in which the impact force acts, the weight of the mobile body, the weight of a carriage that stores parts to be attached to the mobile body and is detachably connected to the mobile body for movement, and a process in which the mobile body is located, the control device further comprising an information acquisition unit that acquires weight-related information that is information about the weight of the mobile body as the vehicle state information, and the control command unit generating the control command using the acquired weight-related information so that, when the weight of the mobile body increases, the speed of the mobile body is reduced compared to before the weight of the mobile body increased. [Feature 4] A mobile body comprising a driving control unit that acquires a control command for moving the mobile body and executes driving control of the mobile body using the acquired control command, wherein the driving control unit corrects the acquired control command using vehicle state information that is information related to at least one of the magnitude of an impact force applied to the mobile body, the direction in which the impact force acts, the weight of the mobile body, the weight of a carriage that stores parts to be attached to the mobile body and is detachably connected to the mobile body for movement, and a process in which the mobile body is located, and executes the driving control in accordance with the corrected control command, and wherein the driving control unit corrects the control command using the vehicle state information to suppress changes in the speed of the mobile body that change due to at least one of the impact force, the attachment of the part to the mobile body, the connection of the carriage to the mobile body, and the release of the connection between the carriage and the mobile body. [Mode 5] A mobile body comprising a driving control unit that acquires a control command for moving the mobile body and executes driving control of the mobile body using the acquired control command, wherein the driving control unit corrects the acquired control command using vehicle state information that is information related to at least one of the magnitude of an impact force applied to the mobile body, the direction in which the impact force acts, the weight of the mobile body, the weight of a bogie that stores parts to be attached to the mobile body and is detachably connected to the mobile body for movement, and a process in which the mobile body is located, and executes the driving control in accordance with the corrected control command, and wherein the driving control unit corrects the control command using the vehicle state information to suppress changes in the traveling direction of the mobile body that change due to at least one of the impact force, the attachment of the part to the mobile body, the connection of the bogie to the mobile body, and the release of the connection between the bogie and the mobile body. [Mode 6] A moving body comprising: a driving control unit that acquires a control command for moving the moving body; and executes driving control of the moving body using the acquired control command; the driving control unit corrects the acquired control command using vehicle state information that is information about at least one of the magnitude of an impact force applied to the moving body, the direction in which the impact force acts, the weight of the moving body, the weight of a carriage that stores parts to be attached to the moving body and is detachably connected to the moving body for movement; and a process in which the moving body is located; and executes the driving control in accordance with the corrected control command; the moving body further comprises an information acquisition unit that acquires weight-related information that is information about the weight of the moving body as the vehicle state information; and the driving control unit corrects the control command using the acquired weight-related information when the weight of the moving body increases so that the speed of the moving body is reduced compared to before the weight of the moving body increased. [Mode 7] A control method for controlling the movement of a mobile body transported in a manufacturing process of a mobile body capable of traveling by unmanned operation, the control method comprising a step of generating a control command for moving the mobile body using vehicle status information, which is information relating to at least one of the magnitude of an impact force applied to the mobile body, the direction in which the impact force acts, the weight of the mobile body, the weight of a carriage that stores parts to be attached to the mobile body and moves connected to the mobile body, and a process in which the mobile body is located, and in which the control command is generated using the vehicle status information in the step so as to suppress changes in the speed of the mobile body that change due to at least one of the impact force, the attachment of the parts to the mobile body, the connection of the carriage to the mobile body, and the release of the connection between the carriage and the mobile body. [Mode 8] A control method for controlling the movement of a mobile body transported in a manufacturing process of a mobile body capable of traveling by unmanned operation, the control method comprising a step of generating a control command for moving the mobile body using vehicle status information, which is information relating to at least one of the following: the magnitude of an impact force applied to the mobile body; the direction in which the impact force acts; the weight of the mobile body; the weight of a carriage that stores parts to be attached to the mobile body and moves connected to the mobile body; and the process in which the mobile body is located; in the step, the control command is generated using the vehicle status information so as to suppress changes in the direction of travel of the mobile body that change due to at least one of the impact force, the attachment of the parts to the mobile body, the connection of the carriage to the mobile body, and the release of the connection between the carriage and the mobile body. [Mode 9] A control method for controlling the movement of a mobile body transported in a manufacturing process of a mobile body capable of traveling by unmanned operation, the control method comprising a step of generating a control command for moving the mobile body using vehicle status information which is information relating to at least one of the magnitude of an impact force applied to the mobile body, the direction in which the impact force acts, the weight of the mobile body, the weight of a carriage which stores parts to be attached to the mobile body and is connected to the mobile body for movement, and a process in which the mobile body is located, the control method including, in the step, acquiring weight-related information which is information relating to the weight of the mobile body as the vehicle status information, and using the acquired weight-related information to generate the control command so that, when the weight of the mobile body increases, the speed of the mobile body is reduced compared to before the weight of the mobile body increased.

[0006] (1) According to one aspect of the present disclosure, there is provided a control device for controlling movement of a mobile body transported in a manufacturing process of a mobile body capable of traveling by unmanned operation, the control device including a control command unit that generates and outputs a control command for moving the mobile body, the control command unit generating the control command using vehicle status information that is information on at least one of the magnitude of an impact force applied to the mobile body, the direction of the impact force, the weight of the mobile body, the weight of a carriage that stores parts attached to the mobile body and is detachably connected to the mobile body for movement, and a process step in which the mobile body is located. According to this aspect of the control device, a control command unit is provided that generates and outputs a control command for moving the moving object, and the control command unit generates the control command using vehicle state information. Therefore, it is possible to suppress deviations in the movement control of the moving object due to unmanned operation that may be caused by at least one of the magnitude of the impact force applied to the moving object, the direction of the impact force, the weight of the moving object, the weight of the carriage, and the position of the moving object. (2) In the above embodiment, the control command unit may use the vehicle state information to generate the control command so as to suppress changes in the speed of the moving body that change due to at least one of the impact force, the attachment of the part to the moving body, the connection of the bogie to the moving body, and the release of the connection between the bogie and the moving body. According to this aspect of the control device, a control command is generated using vehicle state information to suppress changes in the speed of the moving body caused by at least one of an impact force, attachment of a part to the moving body, connection of the bogie to the moving body, and dissociation of the bogie from the moving body. This makes it possible to suppress changes in the speed of the moving body caused by at least one of an impact force, attachment of a part to the moving body, connection of the bogie to the moving body, and dissociation of the bogie from the moving body. (3) In the above embodiment, the control command unit may use the vehicle state information to generate the control command so as to suppress changes in the direction of travel of the moving body that occur due to at least one of the impact force, the attachment of the part to the moving body, the connection of the bogie to the moving body, and the release of the connection between the bogie and the moving body. According to this aspect of the control device, a control command is generated using vehicle state information to suppress a change in the traveling direction of the moving body caused by at least one of an impact force, attachment of a part to the moving body, connection of the bogie to the moving body, and dissolution of the connection between the bogie and the moving body. Therefore, it is possible to suppress a change in the traveling direction of the moving body caused by at least one of an impact force, attachment of a part to the moving body, connection of the bogie to the moving body, and dissolution of the connection between the bogie and the moving body. (4) In the above embodiment, the impact force may be generated from at least one of a force acting when the part comes into contact with the moving body, a force acting when the part is fixed to the moving body, and a force acting when the cart is connected to the moving body. According to this type of control device, the impact force is generated due to at least one of the forces acting when the component comes into contact with the moving body, the forces acting when the component is fixed to the moving body, and the forces acting when the carriage is connected to the moving body. Therefore, it is possible to suppress deviations in the movement control of the moving body during unmanned operation that may be caused by impact forces acting due to at least one of the forces acting when the component comes into contact with the moving body, the forces acting when the component is fixed to the moving body, and the forces acting when the carriage is connected to the moving body. (5) In the above embodiment, the vehicle may further include an information acquisition unit that acquires impact force information regarding the impact force from a sensor that detects the impact force as the vehicle state information, and the control command unit may generate the control command using the acquired impact force information. According to this type of control device, impact force information related to the impact force is acquired from a sensor that detects the impact force, and the acquired impact force information is used to generate a control command. Therefore, the control command can be generated using the impact force actually applied to the moving body, and compared to a type in which the control command is generated by estimating the impact force to be applied in advance, it is possible to suppress deviations in the movement control of the moving body during unmanned operation that may be caused by the impact force. (6) In the above embodiment, the vehicle status information may further include an information acquisition unit that acquires connection termination information from a sensor that acquires connection termination information indicating whether the connection state between the bogie and the moving body has been terminated, and the control command unit may generate the control command using the connection termination information. According to this aspect of the control device, connection termination information indicating whether the connection state between the bogie and the moving body has been terminated is acquired from a sensor that acquires the connection termination information, and a control command is generated using the connection termination information. Therefore, the control command can be generated based on the actual connection state, and deviations in the movement control of the moving body during unmanned operation caused by the connection state with the bogie can be suppressed. (7) In the above embodiment, the vehicle state information may further include an information acquisition unit that acquires weight-related information, which is information regarding the weight of the moving body, and the control command unit may use the acquired weight-related information to generate the control command so that, when the weight of the moving body increases, the speed of the moving body is reduced compared to before the weight of the moving body increased. According to this aspect of the control device, when the weight of the moving body increases, the acquired weight-related information is used to generate a control command to reduce the speed of the moving body compared to before the weight increase, thereby suppressing the braking distance of the moving body, which increases with the weight of the moving body. (8) In the above embodiment, the vehicle may further include a weight estimation unit that estimates the weight of the moving body using the weight-related information, and the control command unit may use the estimated weight of the moving body to generate the control command so that, when the weight of the moving body increases, the speed of the moving body is reduced compared to before the weight of the moving body increased. According to this aspect of the control device, the control unit further includes a weight estimation unit that estimates the weight of the moving body using the weight-related information, and the control command unit uses the estimated weight of the moving body to generate a control command such that, when the weight of the moving body increases, the speed of the moving body is reduced compared to before the weight of the moving body increased. Therefore, it is possible to generate a control command that suppresses the speed of the moving body even depending on the estimated weight of the moving body. (9) In the above embodiment, the system may further include an information storage unit that stores position-weight correspondence information, which is information that corresponds the position of the moving body and the weight of the moving body, and the information acquisition unit may acquire the position of the moving body as the weight-related information, and the weight estimation unit may estimate the weight of the moving body at the position of the moving body using the position-weight correspondence information and the acquired position of the moving body. According to this aspect of the control device, the information storage unit stores position-weight correspondence information, the information acquisition unit acquires the position of the moving body as weight-related information, and the weight estimation unit estimates the weight of the moving body at the position of the moving body using the position-weight correspondence information and the acquired position of the moving body, so that the weight of the moving body can be easily estimated using the position of the moving body. Note that the "position of the moving body" is not limited to coordinates indicating the position of the moving body but has a broad meaning indicating the process where the moving body is located. (10) In the above embodiment, the information acquisition unit may acquire, as the weight-related information, displacement information indicating the displacement of a suspension device supporting the wheels of the moving body, and the weight estimation unit may estimate the weight of the moving body using the displacement information. According to this form of control device, the information acquisition unit acquires displacement information indicating the displacement of the suspension device as weight-related information, and the weight estimation unit estimates the weight of the moving body using the displacement information, so that the weight of the moving body can be estimated more accurately based on the displacement information that changes depending on the actual weight of the moving body. (11) In the above embodiment, when the moving body is located in a pre-bumper attachment process, which is a process before a bumper attachment process in which a bumper is attached to the moving body in the manufacturing process, and the weight of the moving body has increased compared to the weight of the moving body in a process before the pre-bumper attachment process, the control command unit generates the control command so that the speed of the moving body is reduced compared to before the weight of the moving body increased, and when the moving body is located in a post-bumper attachment process, which is a process after the bumper attachment process, and the weight of the moving body has increased compared to the weight of the moving body in a process before the post-bumper attachment process, the control command unit does not need to generate the control command so that the speed of the moving body is reduced compared to before the weight of the moving body increased. According to this type of control device, when the moving body is located in the post-bumper installation process, which is a process after the bumper installation process, and the weight of the moving body has increased compared to the weight of the moving body in a process before the post-bumper installation process, a control command is not generated to reduce the speed of the moving body compared to before the weight of the moving body increased, thereby preventing an increase in the time required to transport the moving body. (12) In the above embodiment, when the moving body is located in a manned process in which workers are present in the manufacturing process and the weight of the moving body has increased compared to the weight of the moving body in a process prior to the manned process, the control command unit generates the control command so that the speed of the moving body is reduced compared to before the weight of the moving body increased; and when the moving body is located in an unmanned process in which workers are not present in the manufacturing process and the weight of the moving body has increased compared to the weight of the moving body in a process prior to the unmanned process, the control command unit does not have to generate the control command so that the speed of the moving body is reduced compared to before the weight of the moving body increased. According to this type of control device, when a moving body is located in an unmanned process in the manufacturing process where no workers are present, and the weight of the moving body has increased compared to the weight of the moving body in a process prior to the unmanned process, a control command is not generated to reduce the speed of the moving body compared to before the weight of the moving body increased, thereby preventing an increase in the time required to transport the moving body. (13) In the above embodiment, the vehicle may further include a position estimation unit that estimates the position of the moving body, and the control command unit may generate the control command using a database that stores information about the control command and position information about the moving body in correspondence with each other, and the estimated position of the moving body, and the information about the control command in the database may be predetermined based on the vehicle state information corresponding to the position of the moving body. According to this aspect of the control device, a database that manages information related to control commands and position information of the moving object in association with each other, and the estimated position of the moving object are used to generate the control commands, so that the database can be used to easily generate the control commands. This makes it easy to suppress deviations in the movement control of the moving object during unmanned operation that may be caused by at least one of the magnitude of the impact force applied to the moving object, the direction of the impact force, the weight of the moving object, the weight of the carriage, and the process where the moving object is located. (14) According to another aspect of the present disclosure, there is provided a database that stores information relating to a control command for moving an unmanned mobile body in a manufacturing process of the mobile body and position information of the mobile body in association with each other, and the information relating to the control command is determined in advance based on vehicle status information that is information relating to at least one of the magnitude of an impact force applied to the mobile body, the direction in which the impact force acts, the weight of the mobile body, the weight of a carriage that stores parts attached to the mobile body and is connected to the mobile body for movement, and a process in which the mobile body is located. According to this type of database, Vehicle conditionThe information relating to the control command determined in advance based on the information and the information on the moving body can be stored in association with each other. Furthermore, since the information relating to the control command is determined in advance, calculation processing for generating the control command can be omitted. (15) According to another aspect of the present disclosure, there is provided a server device, the server device including the control device according to any one of the first to thirteenth aspects. According to the server device of this form, since it is equipped with the control device described in any one of the above forms 1 to 13, it is possible to suppress deviations in the movement control of the moving body due to unmanned operation that may occur due to at least one of the magnitude of the impact force applied to the moving body, the direction in which the impact force acts, the weight of the moving body, the weight of the cart, and the process in which the moving body is located. (16) According to another aspect of the present disclosure, there is provided a server device including the control device according to aspect 13 and the database according to aspect 14. According to the server device of this form, since it is equipped with the control device described in form 13 above and the database described in form 14 above, it is possible to easily generate control commands using the database, and it is possible to easily suppress deviations in the movement control of the moving body due to unmanned operation that may occur due to at least one of the magnitude of the impact force applied to the moving body, the direction in which the impact force acts, the weight of the moving body, the weight of the cart, and the process in which the moving body is located. (17) According to another aspect of the present disclosure, there is provided a moving body including a driving control unit that controls driving of the moving body in accordance with the control command output from the server device according to aspect 15. According to this form of mobile body, operation control is performed in accordance with the control commands output from the server device of the above form, so that deviations in the movement control of the mobile body due to unmanned operation that may occur due to at least one of the magnitude of the impact force applied to the mobile body, the direction in which the impact force acts, the weight of the mobile body, the weight of the cart, and the process in which the mobile body is located can be suppressed. (18) According to another aspect of the present disclosure, there is provided a moving body including a driving control unit that controls driving of the moving body in accordance with the control command output from the server device according to the sixteenth aspect. With this type of mobile body, operation control can be performed in accordance with control commands generated using a database, and deviations in the movement control of the mobile body during unmanned operation that may occur due to at least one of the magnitude of the impact force applied to the mobile body, the direction in which the impact force acts, the weight of the mobile body, the weight of the cart, and the process in which the mobile body is located can be easily suppressed. (19) According to another aspect of the present disclosure, there is provided a moving body including a driving control unit that acquires a control command for moving the moving body and executes driving control of the moving body using the acquired control command, wherein the driving control unit corrects the acquired control command using information on at least one of the magnitude of an impact force applied to the moving body, the direction in which the impact force acts, the weight of the moving body, the weight of a carriage that stores components attached to the moving body and is detachably connected to the moving body for movement, and a position of the moving body, and executes the driving control in accordance with the corrected control command. According to this form of the moving body, the acquired control command is corrected using information on at least one of the magnitude of the impact force applied to the moving body, the direction of the impact force, the weight of the moving body, the weight of the carriage, and the process where the moving body is located, and operation control is executed in accordance with the corrected control command. As a result, the control command output from the server device can be corrected on the moving body side, and deviations in the movement control of the moving body during unmanned operation that may occur due to at least one of the magnitude of the impact force applied to the moving body, the direction of the impact force, the weight of the moving body, the weight of the carriage, and the process where the moving body is located can be suppressed. (20) According to another aspect of the present disclosure, there is provided a moving body including the control device according to any one of the first to thirteenth aspects, and an operation control unit that controls operation of the moving body in accordance with the control command output from the control device. The moving body of this aspect includes the control device according to any one of the above aspects 1 to 13, and an operation control unit that controls the operation of the moving body in accordance with a control command output from the control device. Therefore, without requiring a server device, it is possible to suppress deviations in the movement control of the moving body due to unmanned operation that may occur due to at least one of the magnitude of the impact force applied to the moving body, the direction in which the impact force acts, the weight of the moving body, the weight of the carriage, and the process in which the moving body is located. (21) According to another aspect of the present disclosure, there is provided a moving body including the control device according to aspect 13, the database according to aspect 14, and a driving control unit that controls driving of the moving body in accordance with the control command output from the control device. The moving body of this aspect includes the control device according to aspect 13, the database according to aspect 14, and an operation control unit that controls the operation of the moving body in accordance with control commands output from the control device. Therefore, without requiring a server device, operation control can be performed in accordance with control commands generated using the database, and deviations in the movement control of the moving body due to unmanned operation that may occur due to at least one of the magnitude of the impact force applied to the moving body, the direction in which the impact force acts, the weight of the moving body, the weight of the carriage, and the process in which the moving body is located can be easily suppressed. (22) According to another aspect of the present disclosure, there is provided a mobile object control system, the mobile object control system including the server device according to the fifteenth aspect and the mobile object according to the seventeenth aspect. According to this form of mobile body control system, which is equipped with the server device described in form 15 above and the mobile body described in form 17 above, it is possible to suppress deviations in the movement control of the mobile body due to unmanned operation that may occur due to at least one of the magnitude of the impact force applied to the mobile body, the direction in which the impact force acts, the weight of the mobile body, the weight of the cart, and the process in which the mobile body is located. (23) According to another aspect of the present disclosure, there is provided a mobile object control system, the mobile object control system including the server device according to the sixteenth aspect and the mobile object according to the eighteenth aspect. According to this form of mobile body control system, since it is equipped with the server device described in form 16 above and the mobile body described in form 18 above, control commands can be easily generated using a database, and deviations in the movement control of the mobile body due to unmanned operation that may occur due to at least one of the magnitude of the impact force applied to the mobile body, the direction in which the impact force acts, the weight of the mobile body, the weight of the cart, and the process in which the mobile body is located can be easily suppressed. (24) According to another aspect of the present disclosure, there is provided a mobile object control system including: a server device that generates and outputs control commands for moving an unmanned mobile object; and the mobile object according to aspect 19. According to this form of mobile body control system, the control commands output from the server device can be corrected on the mobile body side, and deviations in the movement control of the mobile body due to unmanned operation that may occur due to at least one of the magnitude of the impact force applied to the mobile body, the direction in which the impact force acts, the weight of the mobile body, the weight of the cart, and the process in which the mobile body is located can be suppressed. (25) According to another aspect of the present disclosure, there is provided a control method for controlling the movement of a moving body that is transported in a manufacturing process of a moving body that can travel in an unmanned operation. Control Method issue a control command to move the moving body by using vehicle state information which is information on at least one of the magnitude of the impact force applied to the moving body, the direction in which the impact force acts, the weight of the moving body, the weight of a carriage which stores parts attached to the moving body and is connected to the moving body to move, and the position of the moving body. Generate The method includes the step of: According to this type of control method, it is possible to suppress deviations in the movement control of a moving body during unmanned operation that may occur due to at least one of the magnitude of the impact force applied to the moving body, the direction in which the impact force acts, the weight of the moving body, the weight of the cart, and the process in which the moving body is located. (26) According to another aspect of the present disclosure, in a manufacturing process of a mobile body capable of traveling by unmanned operation, attachmentThe present invention provides a carriage for storing components to be mounted on the movable body, the carriage including a connection unit connected to the movable body, a carriage drive unit for moving the carriage in accordance with the movement of the movable body in a connected state in which the movable body and the carriage are connected by the connection unit, a connection detection unit for detecting whether the connection unit is in the connected state, and a communication device for transmitting a detection result by the connection detection unit to the control device according to any one of the first to thirteenth aspects. According to this form of the bogie, the bogie is equipped with a connection detection unit that detects whether the connection part is in a connected state, and a communication device that transmits the detection result by the connection detection unit to the control device described in any one of forms 1 to 13 above.Therefore, the control device can use the detection result by the connection detection unit to suppress deviations in the operation of the moving body caused by the connection state between the bogie and the moving body. (27) In the above embodiment, the vehicle may further include a drive control unit that controls the driving of the bogie drive unit, and the drive control unit may increase the braking force of the bogie drive unit when the connection detection unit detects that the connection unit has changed from the connected state to a disconnected state in which the moving body and the bogie are not connected by the connection unit. With this type of trolley, when the connection detection unit detects that the connection part has changed from a connected state to a disconnected state in which the moving body and the trolley are not connected by the connection part, the braking force of the trolley drive unit is increased, so that the trolley can be quickly removed from the vicinity of the moving body and the trolley can be prevented from interfering with the transportation of the moving body. (28) In the above embodiment, the drive control unit may control the carriage drive unit to increase the braking force and then move the carriage to a process that precedes the process in which the carriage is located in the manufacturing process. According to this type of cart, the cart can be attached to another moving body that is transported from the previous process. (29) In the above embodiment, the device may further include a process information acquisition unit that acquires information indicating whether the moving body has completed a connection state process that is predetermined as a process to be executed in the connected state among the manufacturing processes, and a connection control unit that controls the connection unit so that the moving body and the bogie are in a disconnected state when the moving body has completed the connection state process. With this type of trolley, when the moving body completes the connection state process, the connection part is controlled so that the moving body and the trolley are in a disconnected state, thereby preventing deviations in the movement of the moving body due to the connection between the trolley and the moving body in processes other than the connection state process. (30) According to another aspect of the present disclosure, there is provided a bogie control system, comprising: the control device according to any one of aspects 1 to 13; and the bogie according to aspect 29, wherein the control device further comprises a determination unit that determines whether the moving body has completed the connected state process in the manufacturing process, and a notification output unit that outputs a connection termination notification instructing the moving body to terminate the connected state when the moving body has completed the connected state process, and the connection control unit controls the connection unit to enter the disconnected state when the connection termination notification is received. According to this form of bogie control system, when the moving body completes the connection state process, the connection unit is controlled so that the moving body and the bogie are in a disconnected state, thereby preventing deviations in the movement of the moving body due to the connection between the bogie and the moving body in processes other than the connection state process. The present disclosure can also be realized in various forms other than a control device, a database, a server device, a mobile body, a mobile body control system, a control method, a cart, and a cart control system, such as a remote control device, a mobile body transport system, a database management device, a database system, a control device and control method for a cart, a method for transporting a mobile body, a control method for a transport system, a computer program for realizing these control methods and databases, a non-transitory recording medium on which the computer program is recorded, etc. [Brief explanation of the drawings]

[0007] [Figure 1] 1 is an explanatory diagram showing a schematic configuration of a vehicle control system as a control system of a first embodiment. [Figure 2] 1 is a block diagram showing a schematic configuration of a bogie according to a first embodiment. [Figure 3] 1 is a block diagram showing a schematic configuration of a vehicle according to a first embodiment. [Figure 4] 2 is a block diagram showing the internal functional configuration of the remote control device of the first embodiment. FIG. [Figure 5] 3 is a flowchart showing a vehicle driving method according to the first embodiment. [Figure 6] FIG. 10 is an explanatory diagram showing an example of a control command generated to suppress a change in speed associated with the installation of a part on a vehicle. [Figure 7] FIG. 10 is an explanatory diagram showing an example of a control command generated to suppress a change in speed associated with the connection of a bogie to a vehicle. [Figure 8] 3 is a flowchart showing the steps of a vehicle control method implemented by the remote control device of the first embodiment. [Figure 9] 3 is a flowchart showing the steps of a vehicle control method implemented by the remote control device of the first embodiment. [Figure 10] FIG. [Figure 11] 10 is a flowchart showing the procedure of a control command generation process executed in a remote control device of a third embodiment. [Figure 12] FIG. 10 is a block diagram showing a schematic configuration of a vehicle control device provided in a vehicle according to a fifth embodiment. [Figure 13] 10 is a flowchart showing a vehicle driving method according to a fifth embodiment. [Figure 14] FIG. 10 is a block diagram showing a schematic configuration of a remote control device according to another embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0008] A. First embodiment: A-1. System Configuration: FIG. 1 is an explanatory diagram showing a schematic configuration of a vehicle control system 600 as a mobile object control system according to a first embodiment. The vehicle control system 600 is used, for example, in a factory that manufactures vehicles 100. The vehicle control system 600 transports a vehicle 100 that can travel by remote control. In this embodiment, the vehicle control system 600 is used in the assembly process of the vehicle 100, which is part of the manufacturing process for manufacturing the vehicle 100, and transports the vehicle 100 in a platform state over a predetermined transport section. The "platform state" refers to a state in which the vehicle 100 is capable of performing three functions, namely, "running," "turning," and "stopping," by remote control. More specifically, this refers to a state in which interior components such as a driver's seat and a dashboard are not installed, exterior components such as bumpers and fenders are not installed, and a body shell is not installed. Note that for vehicle 100 in a platform state, the remaining parts such as the body shell may be attached to vehicle 100 before vehicle 100 is shipped from the factory, or the remaining parts such as the body shell may be attached to vehicle 100 after vehicle 100 is shipped from the factory without the remaining parts such as the body shell being attached to vehicle 100. During transportation, vehicle 100 undergoes processes such as inspection and assembly by workers, equipment, etc. Each part may be attached from any direction, such as the top, bottom, front, rear, right side, or left side of vehicle 100, and may be attached from the same direction or from different directions.

[0009] As shown in Fig. 1, vehicle 100 in a platform state is transported by remote control using vehicle control system 600, and parts PT are mounted on it using assembly robot RB, fixed using fixing tools TL held by workers, and then the vehicle proceeds to the next process. Although only one assembly robot RB is shown in Fig. 1, multiple assembly robots RB may be installed depending on the types of parts PT to be attached to vehicle 100. Note that when parts PT are mounted on vehicle 100 by assembly robot RB, they may be fixed without using fixing tools TL by fitting them into fitting portions (not shown) formed in advance on vehicle 100.

[0010] In this embodiment, the fixed tool TL is configured as an impact wrench, and is configured to communicate with the remote control device 300 and output an operating state and a fastening torque to the remote control device 300. The assembly robot RB is configured as an articulated robot having a gripping section, and is configured to communicate with the remote control device 300, and receives a control command output from the remote control device 300 as described below, and adjusts the position of the part PT in accordance with the control command. attachment The assembly robot RB is also configured to be able to output to the remote control device 300 information indicating whether or not the mounting of the part PT on the vehicle 100 has been completed, the weight of the part PT, the impact force generated when the part PT is mounted on the vehicle 100, and the like. Communication between the fixed tool TL and the remote control device 300 and communication between the assembly robot RB and the remote control device 300 may be realized by any method, whether wired or wireless.

[0011] The vehicle 100 is configured to remotely control the vehicle 100 in at least a part of the transport section. attachmentThe vehicle 100 is towed by a trolley 400 connected to it, which stores various parts to be towed. The trolley 400 is not limited to being located at the rear of the vehicle 100, but may also be towed in a position where the trolley 400 is located in front of or to the side of the vehicle 100. In this embodiment, the trolley 400 stores relatively small fixed parts, such as bolts that are installed by a worker to secure the part PT to the vehicle 100. The trolley 400 may also store large parts, such as seats and body shells, that are attached to the vehicle 100 by the assembly robot RB. The trolley 400 includes wheels 432 and a connecting portion 434, and is towed by detachably connecting the connecting portion 434 to a towing hook previously provided on the vehicle 100 during transport or to any protruding portion of the vehicle 100. The connecting portion 434 is configured as, for example, a belt or a hook, and is detached and the connection is released when the vehicle 100 has completed transporting the specified section. In the following description, the state in which the bogie 400 and the vehicle 100 are connected by the connection part 434 will also be referred to as the "connected state," and the state in which the connection state is released and the bogie 400 and the vehicle 100 are not connected will also be referred to as the "disconnected state." The wheel 432 corresponds to the "bogie drive part" in this disclosure.

[0012] FIG. 2 is a block diagram showing a schematic configuration of the bogie 400 according to the first embodiment. The bogie control device 500 is mounted on the bogie 400 and performs various controls of the bogie 400. The bogie control device 500 is configured as an ECU (Electronic Control Unit) including a CPU 510 as a central processing unit, a storage device 530 such as an HDD (Hard Disk Drive), an SSD (Solid State Drive), an optical recording medium, RAM, or ROM, and an interface circuit 540. The CPU 510, the storage device 530, and the interface circuit 540 are connected via an internal bus to enable bidirectional communication. The interface circuit 540 is connected to the communication device 410, a sensor group 420, and an actuator group 430. The communication device 410 wirelessly communicates with devices external to the vehicle 100 connected to a network, such as a remote control device 300, via an access point in a factory or the like.

[0013] The sensor group 420 is used for various controls of the bogie 400 by the bogie control device 500. In this embodiment, the sensor group 420 includes a connection detection unit 422 that detects whether the connection unit 434 is in a connected state or a disconnected state. The connection detection unit 422 is configured as, for example, a pressure sensor provided at the contact portion between the connection unit 434 and the vehicle 100, or a distance measurement sensor that detects the distance between the bogie 400 and the vehicle 100. The detection result by the connection detection unit 422 is output to the remote control device 300 and the CPU 510.

[0014] Computer programs for realizing at least some of the functions provided in this embodiment are stored in the storage device 530. The CPU 510 executes the various computer programs stored in the memory, thereby functioning as a drive control unit 512, a connection control unit 514, and a process information acquisition unit 516.

[0015] The process information acquisition unit 516 acquires information indicating whether the vehicle 100 has completed a connection state process, which is predetermined as a process to be executed in a connected state among the manufacturing processes. The drive control unit 512 controls the drive of the actuators in the actuator group 430 that are involved in the drive control of the wheels 432 provided on the bogie 400. The "actuators involved in the drive control of the wheels 432" include actuators of a drive device (not shown) that drive the wheels 432, actuators of a braking device (not shown) that generate a braking force to decelerate the wheels 432, wheel The drive control unit 512 includes an actuator for a steering device (not shown) for changing the traveling direction of the connection unit 434. In this embodiment, the drive control unit 512 drives the wheels 432 to travel the bogie 400 by controlling the wheels 432 depending on whether the connection state process has been completed and the state of the connection unit 434 detected by the connection detection unit 422. In this embodiment, when the connection unit 434 is in the connected state, the drive control unit 512 does not drive the wheels 432 by the actuator, and the wheels 432 are driven by being towed by the vehicle 100.

[0016] The connection control unit 514 controls the driving of the actuators of the actuator group 430 that are involved in controlling the connection unit 434 provided on the carriage 400. In this embodiment, the connection control unit 514 controls the connection unit 434 depending on whether the connection state process has been completed, thereby switching the connection unit 434 between the connected state and the non-connected state. Specific controls in the drive control unit 512, the connection control unit 514, and the process information acquisition unit 516 will be described later.

[0017] FIG. 3 is a block diagram showing a schematic configuration of a vehicle 100 according to the first embodiment. The vehicle 100 may be, for example, a passenger car, a truck, a bus, or a construction vehicle. In this embodiment, the vehicle 100 is an electric vehicle (BEV: Battery Electric Vehicle) that can travel by unmanned driving. "Unmanned driving" means driving without the driver's operation. Driving operation means an operation related to at least one of "running," "turning," and "stopping" of the vehicle 100. Unmanned driving is achieved by automatic or manual remote control using a device provided outside the vehicle 100, or by autonomous control of the vehicle 100. A vehicle 100 traveling by unmanned driving may have a driver on board who does not perform driving operations. A driver who does not perform driving operations may be, for example, a person simply sitting in a seat of the vehicle 100, attachment This includes a person who is riding in the vehicle 100 and performing tasks other than driving operations, such as inspections, operating switches, etc. Driving performed by a passenger is sometimes called "manned driving." The vehicle 100 is equipped with a communication device 110, a group of sensors 120, a group of actuators 130, and a vehicle control device 200.

[0018] The vehicle control device 200 is mounted on the vehicle 100 and executes various controls of the vehicle 100. The vehicle control device 200 is configured as an ECU including a CPU 210 as a central processing unit, a storage device 230 such as a RAM, a ROM, an HDD, and an SSD, and an interface circuit 240. The CPU 210, the storage device 230, and the interface circuit 240 are connected via an internal bus to enable bidirectional communication. The interface circuit 240 is connected to the actuator group 130, the sensor group 120, and the communication device 110. The communication device 110 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.

[0019] Computer programs for realizing at least some of the functions provided in this embodiment are stored in the storage device 230. The CPU 210 executes various computer programs stored in the memory to realize functions such as the operation control unit 212.

[0020] The driving control unit 212 executes driving control of the vehicle 100. "Driving control" refers to various controls for driving the actuator group 130 that performs the functions of "running," "turning," and "stopping" of the vehicle 100, such as adjusting acceleration, speed, and steering angle. In this embodiment, the actuator group 130 includes an actuator of a drive device 132 for accelerating the vehicle 100, an actuator of a braking device 134 for decelerating the vehicle 100, and an actuator of a steering device 136 for changing the traveling direction of the vehicle 100. The actuator group 130 may also include an actuator for swinging the wipers of the vehicle 100, an actuator for opening and closing the power windows of the vehicle 100, and the like.

[0021] Drive unit 1 32The actuator includes a traction battery (not shown), a traction motor (not shown) driven by power from the traction battery, and four wheels. The traction motor is an example of a prime mover. The wheels rotate by power transmitted from the traction motor. Another type of prime mover, such as an internal combustion engine or an external combustion engine, may be provided instead of the traction motor.

[0022] When a driver is on board the vehicle 100, the driving control unit 212 controls the actuator group 130 in accordance with the driver's operation, thereby causing the vehicle 100 to travel. Moreover, regardless of whether a driver is on board the vehicle 100 or not, the driving control unit 212 can also control the actuator group 130 in accordance with a control command transmitted from the remote control device 300, causing the vehicle 100 to travel.

[0023] The sensor group 120 is a general type of sensor used for driving control of the vehicle 100. In this embodiment, the measurement results by the sensor group 120 are transmitted to the vehicle control device 200. Note that the vehicle 100 in the platform state may not be equipped with the sensor group 120.

[0024] As shown in FIG. 1, the vehicle control system 600 includes a vehicle detector 80 and a remote control device 300. The vehicle detector 80 is a device for measuring vehicle information. "Vehicle information" refers to information used to estimate at least one of the position and orientation of the vehicle 100, such as an image of the vehicle 100 or three-dimensional point cloud data of the vehicle 100. "Three-dimensional point cloud data" refers to data indicating the three-dimensional position of a point cloud. In this embodiment, the vehicle detector 80 is configured as a camera, and acquires an image of the vehicle 100 as the vehicle information.

[0025] The vehicle detector 80 is communicatively connected to the remote control device 300 via wireless or wired communication. By acquiring vehicle information from the vehicle detector 80, 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.

[0026] 4 is a block diagram showing the internal functional configuration of the remote control device 300 of the first embodiment. The remote control device 300 generates control commands for automatically driving the vehicle 100 by remote control, transmits the control commands 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 in a transport section within a factory by remotely controlling the vehicle 100 to automatically drive. In this embodiment, the remote control device 300 also generates control commands for remotely operating the assembly robot RB and the cart 400, and transmits the control commands to the assembly robot RB and the cart control device 500, respectively. The remote control device 300 corresponds to the "server device" in this disclosure.

[0027] The remote control device 300 is configured as an ECU including a CPU 310 as a central processing unit, a storage device 330, an interface circuit 340, and a communication device 350. The CPU 310, the storage device 330, and the interface circuit 340 are connected via an internal bus to enable bidirectional communication. The interface circuit 340 is connected to the communication device 350. The communication device 350 communicates with the vehicle 100, the bogie control device 500, and the assembly robot RB via a network or the like.

[0028] The storage device 330 is, for example, a RAM, a ROM, an HDD, or an SSD. An estimated position VL, which will be described later, is stored in a readable / writable area of ​​the storage device 330. The storage device 330 also stores a computer program for implementing at least some of the functions provided in this embodiment. When the computer program stored in the storage device 330 is executed by the CPU 310, the CPU 310 functions as a vehicle control command unit 312, a position estimation unit 314, an information acquisition unit 316, a bogie control command unit 318, and a robot control command unit 320. However, some or all of these functions may be configured by hardware circuits.

[0029] The position estimation unit 314 estimates the relative position and orientation of the vehicle 100 by analyzing the video captured by the vehicle detector 80. The vehicle control command unit 312 can estimate the position and orientation of the vehicle 100 using captured images captured by a camera serving as the vehicle detector 80. 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 direction of the movement vector of the vehicle 100 calculated from position 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.

[0030] 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. Examples of the detection model include 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.

[0031] The information acquisition unit 316 acquires vehicle state information SJ. The "vehicle state information SJ" refers to information relating to at least one of the magnitude of the impact force applied to the vehicle 100, the direction of the impact force, the weight of the vehicle 100, the weight of the bogie 400, and the process in which the vehicle 100 is located. More specifically, the vehicle state information SJ includes information indicating the type of part PT to be attached in each process in the manufacturing process, the weight of the part PT to be attached in each process, the magnitude and direction of the impact force generated when attaching each part PT to the vehicle 100, the timing at which the bogie 400 starts to be connected or disconnected, the weight of the bogie 400 in each process, etc. In this embodiment, the information acquisition unit 316 acquires, from the storage device 330, the vehicle state information SJ that has been stored in advance in the storage device 330.

[0032] The following describes in detail each element used as the vehicle condition information SJ in this embodiment and the influence each element has on the driving condition of the vehicle 100. When each part PT is attached to the vehicle 100, the weight of the part PT is added, increasing the total weight of the vehicle 100. As the total weight of the vehicle 100 increases, friction with the road surface increases, increasing the driving resistance of the drive unit 132 and causing the vehicle 100 to decelerate. Furthermore, as the total weight of the vehicle 100 increases, the driving torque required to achieve a predetermined acceleration and the braking force required to achieve a predetermined deceleration increase. In this embodiment, the information acquisition unit 316 adds up the weight of the part PT attached in each process and records the total vehicle weight WT in the storage device 330 as the total weight of the vehicle 100. The total vehicle weight WT is included in the vehicle condition information SJ. The total vehicle weight WT may be associated with the position of the vehicle 100 and stored in advance in the storage device 330 as the vehicle condition information SJ.

[0033] In this embodiment, the "impact force generated when each part PT is attached to the vehicle 100" refers to the impact force resulting from the force generated when the assembly robot RB loads the part PT and contacts the vehicle 100, the force generated when the fixture tool TL attaches the part PT to the vehicle 100, and the force generated when the bogie 400 is connected to the vehicle 100. The type of impact force used as the vehicle status information SJ may be at least one of the above-mentioned forces. Furthermore, the "magnitude and direction of the impact force" can be determined in advance through simulation as the magnitude and direction of the impact force generated when the part PT is attached to the vehicle 100 using a part weight, contact speed, contact direction, and fixing force that are predetermined for each type of part PT, and the magnitude and direction of the impact force generated when a bogie 400 of a predetermined weight is connected to the vehicle 100 traveling at a predetermined speed. The information regarding the impact force described above corresponds to the "impact force information" in this disclosure.

[0034] The impact force affects the driving state of the vehicle 100 depending on the direction in which the impact force acts. More specifically, an impact force acting in the traveling direction of the vehicle 100 acts as a force that accelerates the vehicle 100, thereby accelerating the vehicle 100. On the other hand, an impact force acting in the direction opposite to the traveling direction of the vehicle 100 acts as a force that decelerates the vehicle 100, thereby decelerating the vehicle 100. Furthermore, an impact force acting in a direction perpendicular to the traveling direction of the vehicle 100 increases the frictional force between the vehicle 100 and the road surface and the driving resistance of the drive unit 132, thereby decelerating the vehicle 100.

[0035] The "weight of the bogie 400" includes the weight of the various parts stored in the bogie 400. The later the process in the manufacturing process, the lighter the parts PT stored in the bogie 400 become as they are attached to the vehicle 100, so the weight of the bogie 400 is set in advance for each process. Note that if the parts PT stored in the bogie 400 are small parts PT such as bolts, the change in the weight of the bogie 400 between processes is slight, so the weight of the bogie 400 may be set in advance as a constant value.

[0036] When the bogie 400 is connected to the vehicle 100, a frictional force acting between the road surface and the bogie 400 acts on the vehicle 100, causing the vehicle 100 to decelerate. In addition, the driving torque required to achieve a predetermined acceleration and the braking force required to achieve a predetermined deceleration increase. On the other hand, when the connection between the bogie 400 and the vehicle 100 is released, the frictional force acting between the road surface and the bogie 400 no longer acts on the vehicle 100, and the force that decelerates the vehicle 100 is lost, causing the vehicle 100 to accelerate.

[0037] The vehicle control command unit 312 generates control commands for causing the vehicle 100 to perform various operations and outputs them to the vehicle 100. For example, the vehicle control command unit 312 uses the estimated position and orientation of the vehicle 100, i.e., the estimated position VL, to generate a control command for causing the vehicle 100 to automatically travel by remote control 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 330. The control command can be generated as a travel control signal including control command values ​​that respectively indicate a driving force or braking force and a steering angle. When the vehicle 100 receives the travel control signal as a remote control request, the driving control unit 212 of the vehicle control device 200 realizes driving control, and as a result, the vehicle 100 travels automatically.

[0038] FIG. 5 is a flowchart showing a method for driving the vehicle 100 according to the first embodiment. In FIG. 5, the flow on the left side shows the processing executed by the remote control device 300, and the flow on the right side shows the processing executed by the vehicle 100. In step S110, the vehicle control command unit 312 acquires position information indicating the position and orientation of the vehicle 100 using the detection results of the vehicle detector 80. 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 vehicle control command unit 312 detects the position of the vehicle 100 from the detection results acquired from the vehicle detector 80, and acquires position information for the vehicle 100 in the factory from the detected position of the vehicle 100.

[0039] In step S120, the vehicle control command unit 312 determines a target position to which the vehicle 100 should next head. In this embodiment, the target position is represented by X, Y, and Z coordinates in the global coordinate system of the factory. A target route, which is the path the vehicle 100 should travel, is stored in advance in the storage device 330 of the remote control device 300. The target route is represented by nodes indicating the departure point, nodes indicating passing points, nodes indicating the destination, and links connecting the nodes. The vehicle control command unit 312 determines a target position to which the vehicle 100 should next head, using the position information of the vehicle 100 and the target route. The vehicle control command unit 312 determines a target position on the target route that is further ahead than the current location of the vehicle 100.

[0040] In step S130, the vehicle control command unit 312 generates a driving control signal for driving the vehicle 100 toward the determined target position. In this embodiment, the driving control signal includes the acceleration and steering angle of the vehicle 100 as parameters. The vehicle control command 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 vehicle control command unit 312 determines the acceleration so that the vehicle 100 accelerates. If the driving speed is higher than the target speed, the vehicle control command unit 312 determines the acceleration so that the vehicle 100 decelerates. If the vehicle 100 is located on the target route, the vehicle control command unit 312 determines the steering angle so that the vehicle 100 does not deviate from the target route. If the vehicle 100 is not located on the target route, in other words, if the vehicle 100 has deviated from the target route, the vehicle control command unit 312 determines the steering angle so that the vehicle 100 returns to the target route.

[0041] In step S140, the vehicle control command unit 312 transmits the generated driving control signal to the vehicle 100. The vehicle control command 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.

[0042] In step S150, the driving control unit 212 of the vehicle 100 receives the driving control signal from the vehicle control command unit 312, and in step S160 controls the actuator group 130 using the received driving control signal, thereby causing the vehicle 100 to drive at the acceleration and steering angle indicated in the driving control signal. The driving control unit 212 repeats receiving the driving control signal and controlling the actuator group 130 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.

[0043] In this embodiment, the vehicle control command unit 312 uses the above-mentioned vehicle state information SJ to generate a control command to suppress the change in the speed of the vehicle 100 that changes as described above due to the impact force, the attachment of the part PT to the vehicle 100, the connection of the bogie 400 to the vehicle 100, and the release of the connection between the bogie 400 and the vehicle 100. A control command to suppress the change in speed may be generated from scratch taking into account the vehicle state information SJ, or may be generated by adding a correction value generated taking into account the vehicle state information SJ to a control command generated without taking into account the vehicle state information SJ. The vehicle control command unit 312 corresponds to the "control command unit" in this disclosure.

[0044] An example of generation of a control command by the vehicle control command unit 312 to suppress a change in speed will be described in more detail with reference to Fig. 6 and Fig. 7. Fig. 6 is an explanatory diagram showing an example of a control command generated to suppress a change in speed related to the attachment of a part PT to the vehicle 100. Fig. 7 is an explanatory diagram showing an example of a control command generated to suppress a change in speed related to the connection of a bogie 400 to the vehicle 100.

[0045] First, a description will be given with reference to Fig. 6. In Fig. 6, the horizontal axis represents time, and the vertical axis represents the total vehicle weight WT, the external force acting on the vehicle 100, and the control command value. In the example shown in Fig. 6, the "external force acting on the vehicle 100" represents the impact force acting on the vehicle 100 and the attachment6, the external force acting on the vehicle 100 is shown with a positive direction being the direction that decelerates the vehicle 100. The control command value refers to a value that indicates the driving force for driving the vehicle 100 at a predetermined speed at each time. The larger the control command value, the greater the driving force required.

[0046] At time T0, the total vehicle weight WT, the magnitude of the external force, and the control command value are respectively total vehicle weight WT0, external force FR0, and control command value C0. Here, external force FR0 is the gravity acting on vehicle 100 with total vehicle weight WT0, and control command value C0 means a control command value that indicates the driving force for driving vehicle 100, on which external force FR0 is acting, at a specified speed.

[0047] At time T1, a first part is loaded onto the vehicle 100. The weight of the first part is added to the total vehicle weight WT, increasing the total vehicle weight WT from WT0 to WT1. The external force increases from external force FR0 to external force FR1. The external force FR1 is gravity acting on the vehicle 100 with a total vehicle weight WT1. More specifically, when the first part is loaded onto the vehicle 100, the first part is held by the assembly robot RB and comes into contact with the vehicle 100 at a predetermined speed. Therefore, the external force acting on the vehicle 100 temporarily exceeds the external force FR1 due to the impact force caused by the contact. When the speed of the first part becomes 0, the external force converges to the external force FR1. The control command value is generated to increase from the control command value C0 to the control command value C1. The control command value C1 indicates a control command value that indicates the driving force for driving the vehicle 100, to which the external force FR1 is acting, at a specified speed. More specifically, the control command value is generated so as to temporarily command a value greater than the control command value C1 in response to the change in the external force described above, and then converge to the control command value C1.

[0048] In the example shown in FIG. 6, after the first part is mounted on the vehicle 100, four locations are fastened once each at times T2, T3, T4, and T5 using an impact wrench as the fixed tool TL. At times T2, T3, T4, and T5, an impact force is applied to the vehicle 100 in a vertically downward direction, and the external force temporarily becomes larger than the external force FR1. The control command value is also generated in response to the change in the external force, temporarily commanding a value larger than the control command value C1, and then converging to the control command value C1. Note that in the example shown in FIG. 6, since the impact force is applied in the vertically downward direction where gravity acts, the external force temporarily becomes larger than the external force FR1, but if the impact force is applied vertically upward, the external force temporarily becomes smaller than the external force FR1. In such a case, the control command value is also generated in response to the change in the external force. of power In response to the change, the control command value is generated so as to be temporarily smaller than the control command value C1.

[0049] At time T6, a second part is loaded onto the vehicle 100. The total vehicle weight WT increases from WT1 to WT2 due to the addition of the weight of the second part. The external force increases from external force FR1 to external force FR2. The external force FR2 is the gravity acting on the vehicle 100 at the total vehicle weight WT2. More specifically, when the second part is loaded onto the vehicle 100, the second part is held by the assembly robot RB and comes into contact with the vehicle 100 at a predetermined speed, similar to the first part. Therefore, the external force acting on the vehicle 100 temporarily exceeds the external force FR2 due to the impact force caused by the contact. When the speed of the second part becomes zero, the external force converges to the external force FR2. The control command value is generated to increase from control command value C1 to control command value C2. The control command value C2 indicates a control command value that indicates the driving force for driving the vehicle 100, to which the external force FR2 is acting, at a specified speed. More specifically, the control command value is generated so as to temporarily command a value greater than the control command value C2 in response to the change in the external force described above, and then converge to the control command value C2.

[0050] 6, the second part is fixed by being fitted into a fitting portion (not shown) formed in advance on the vehicle 100 when the second part is mounted on the vehicle 100. Therefore, after time T6, the vehicle 100 is not subjected to an impact from the fixing tool TL, and the external force and the control command value do not change.

[0051] Next, a description will be given with reference to Fig. 7. In Fig. 7, the horizontal axis represents time, and the vertical axis represents the total vehicle weight WT, the external force acting on the vehicle 100, the bogie speed, and the control command value. In the example shown in Fig. 7, the external force acting on the vehicle 100 and the control command value are shown in the same way as in Fig. 6.

[0052] At time T7, the total vehicle weight WT, the magnitude of the external force, and the control command value are respectively total vehicle weight WT3, external force FR3, and control command value C3. Here, external force FR3 is the gravity acting on vehicle 100 with total vehicle weight WT3, and control command value C3 means a control command value that indicates the driving force for causing vehicle 100, on which external force FR3 is acting, to travel at a specified speed. Also, the bogie speed is 0, and bogie 400 is stopped.

[0053] At time T8, bogie 400 is connected to vehicle 100. The weight of bogie 400 is added to the total vehicle weight WT, increasing the total vehicle weight WT from WT3 to WT4. When bogie 400 is connected to vehicle 100, bogie 400 is towed by vehicle 100 at bogie speed V1. At this time, frictional forces and inertial forces acting when bogie 400 is towed act on vehicle 100, and this can be considered to be the same as a state in which the weight of bogie 400 is added to vehicle 100. The external force increases from external force FR3 to external force FR4. External force FR4 is the sum of external force FR3 and the kinetic friction force acting on bogie 400 being towed at bogie speed V1. After the bogie 400 and the vehicle 100 are connected, until the stationary bogie 400 starts moving, a static frictional force greater than a kinetic frictional force acts on the vehicle 100 pulling the bogie 400, and therefore the external force temporarily becomes greater than the external force FR4. When the force with which the vehicle 100 pulls the bogie 400 exceeds the static frictional force, the bogie 400 starts to follow the bogie 400, a kinetic frictional force acts, and the external force converges to the external force FR4. The control command value is generated so as to increase from the control command value C3 to the control command value C4. The control command value C4 means a control command value that indicates a driving force for causing the vehicle 100, to which the external force FR4 is acting, to travel at a specified speed. More specifically, the control command value is generated so as to temporarily command a value greater than the control command value C4 in response to the change in the external force described above, and then converge to the control command value C4.

[0054] After time T8, the total vehicle weight WT, the external force acting on the vehicle 100, the bogie speed, and the control command value do not change until the connection between the bogie 400 and the vehicle 100 is released at time T9. When the connection between the bogie 400 and the vehicle 100 is released at time T9, the total vehicle weight WT decreases from the total vehicle weight WT4 to the total vehicle weight WT3 again. The external force decreases from the external force FR4 to the external force FR3 again as the kinetic friction force caused by the traction of the bogie 400 is lost. The control command value is generated so as to decrease from the control command value C4 to the control command value C3 again in response to the change in the external force described above.

[0055] After time T9, the total vehicle weight WT, the external force acting on the vehicle 100, and the control command value do not change. After the connection between the vehicle 100 and the bogie 400 is released, the bogie speed is decelerated by applying a braking force by the drive control unit 512 as described below. The bogie speed becomes 0 at time T10, and the bogie 400 stops. Note that the bogie 400 may be decelerated and stopped only by dynamic friction force, without being applied with a braking force by the drive control unit 512. This concludes the description of an example of generation of a control command by the vehicle control command unit 312 to suppress a change in speed.

[0056] 6 and 7, except for the case where the vehicle state information and the control command are stored in association with each other in advance, the total vehicle weight, external force, bogie speed, and control command value do not completely coincide on the time axis, and the control command value may be delayed. This is due to the time required to calculate the control command value, etc. However, such delays are not shown in FIGS. 6 and 7.

[0057] As can be understood from the explanation using Figures 6 and 7, the above-mentioned "using vehicle state information SJ to generate a control command to suppress changes in the speed of vehicle 100" specifically includes the following processes (a) to (c). (a) The information acquisition unit 316 acquires the "vehicle state information SJ." (b) The vehicle control command unit 312 calculates the acceleration (not limited to the longitudinal direction) applied to the vehicle 100 from the vehicle state information. (c) A control command value for the actuator of the drive device 132 or the steering device 136 of the vehicle 100 is calculated so that a change in at least one of the speed and direction of travel of the vehicle 100 due to the calculated acceleration is suppressed.

[0058] A-2. Control method of the vehicle 100 implemented by the remote control device 300: 8 and 9 are flowcharts showing the steps of a method for controlling the vehicle 100 implemented by the remote control device 300 of the first embodiment. Every time vehicle information is transmitted from the vehicle detector 80, the remote control device 300 starts the control shown in FIGS.

[0059] In step S202 shown in FIG. 8, the position estimation unit 314 acquires the vehicle information transmitted from the vehicle detector 80.

[0060] In step S204, the position estimation unit 314 estimates the position and orientation of the vehicle 100 using the vehicle information as described above.

[0061] After step S204, the control from step S206 to step S222 shown in Fig. 9 and the control from step S224 to step S232 shown in Fig. 8 are executed in parallel. Note that step S206 and step S208 may be executed in parallel, independent of the control from step S210 to step S222 shown in Fig. 9.

[0062] In step S206 shown in FIG. 8, the robot control command unit 320 determines whether the estimated position of the vehicle 100 is a part installation position. Assembly The "position" means a position that is set in advance as a position where the assembly robot RB will attach the part PT to the vehicle 100 in the manufacturing process. Assembly If it is determined that the position is not reached (step S206: No), the remote control device 300 ends the control.

[0063] Vehicle 100 is located at the part Assembly If it is determined that the part PT is in the position (step S206: Yes), the robot control command unit 320 transmits a control command to the assembly robot RB to instruct the assembly robot RB to attach the part PT to the vehicle 100. (Step S208) The assembly robot RB, which has received the control command, attaches the part PT to the vehicle 100 in accordance with the control command. The control command transmitted in this step may be a control signal that specifically instructs the amount of movement of each part constituting the assembly robot RB. attachment It may be an instruction to only start the control. attachmentThe assembly robot RB, which has been instructed to start control, may identify the attachment position of the part PT on the vehicle 100 using a camera or the like that it has, and may attach the part PT through autonomous control.

[0064] 9, the flow shown on the left side shows the control executed in the remote control device 300, and the flow shown on the right side shows the control executed in the bogie control device 500. In step S210, the robot control command unit 320 determines whether the connection flag JF stored in the storage device 330 is in the "OFF" state. The "connection flag JF" is overwritten by control described below so that it is in the "ON" state when the vehicle 100 and the bogie 400 are in a connected state, and is in the "OFF" state when they are not connected.

[0065] If it is determined that the connection flag JF is in the "OFF" state (step S210: Yes), in step S212, the bogie control command unit 318 determines whether the position of the vehicle 100 estimated in step S204 is the connection start position. The "connection start position" refers to a position that has been set in advance as the position where connection of the bogie 400 to the vehicle 100 starts. More specifically, the connection start position is a connection state process that has been set in advance as a process to be executed in the connected state, and is set as the position where the connection state process in which installation of parts stored in the bogie 400 is executed starts. If it is determined that the position of the vehicle 100 is not the connection start position (step S212: No), the remote control device 300 ends control.

[0066] If it is determined that the position of the vehicle 100 is the connection start position (step S212: Yes), in step S214, the bogie control command unit 318 transmits a connection notification to the bogie control device 500 to instruct the bogie control device 500 to start a connection state. Control by the bogie control device 500 that has received the connection notification will be described later.

[0067] In step S216, the carriage control command unit 318 overwrites the state of the connection flag JF recorded in the storage device 330 from "OFF" to "ON." Thereafter, the remote control device 300 ends the control.

[0068] Returning to step S210, if it is determined that the connection flag JF is not in the "OFF" state (step S210: No), in other words, if the connection flag JF is in the "ON" state, in step S218, the bogie control command unit 318 determines whether or not the position of the vehicle 100 estimated in step S204 is the connection release position. The "connection release position" refers to a position that is preset as a position where the connection of the bogie 400 to the vehicle 100 is released. More specifically, the connection release position is set as a position where the above-mentioned connection state process is completed. That is, in step S218, the bogie control command unit 318 determines whether or not the vehicle 100 has completed the connection state process in the manufacturing process. The bogie control command unit 318 corresponds to the "determination unit" in this disclosure. If it is determined that the position of the vehicle 100 is not in the connection release position (step S218: No), the remote control device 300 ends control.

[0069] If it is determined that the position of the vehicle 100 is the connection cancellation position (step S218: Yes), in step S220, the bogie control command unit 318 transmits a connection cancellation notification to the bogie control device 500 to instruct it to cancel the connection state. The bogie control command unit 318 corresponds to the "notification output unit" in this disclosure. Control by the bogie control device 500 that has received the connection cancellation notification will be described later.

[0070] In step S222, the carriage control command unit 318 overwrites the state of the connection flag JF recorded in the storage device 330 from "ON" to "OFF." Thereafter, the remote control device 300 ends the control.

[0071] The following describes the control in the cart control device 500. In step S302, the process information acquisition unit 516 determines whether or not a connection notification has been received from the remote control device 300. If it is determined that a connection notification has not been received (step S302: No), the connection control unit 514 executes step S306, which will be described later.

[0072] If it is determined that the connection notification has been received (step S302: Yes), in step S304, the drive control unit 512 and the connection control unit 514 execute connection control. In this embodiment, the drive control unit 512 and the connection control unit 514 execute connection control in response to the reception of the connection notification. control Before receiving the connection notification, the bogie 400 waits at a predetermined waiting position. When the connection notification is received, the drive control unit 512 drives the wheels 432 to approach the vehicle 100, and when the relative positions of the vehicle 100 and the bogie 400 reach a predetermined positional relationship, the connection control unit 514 controls the connection unit 434 to connect the connection unit 434 to a predetermined position on the vehicle 100. After the bogie 400 and the vehicle 100 are connected, the drive control unit 512 stops driving the wheels 432 by the actuator, and the wheels 432 are towed by the vehicle 100 and driven by it. In this embodiment, after the bogie 400 and the vehicle 100 are connected, the drive control unit 512 stops driving the wheels 432 by the actuator, so that an increase in power consumption due to driving the wheels 432 can be suppressed. The above-mentioned connection control does not have to be set in advance, but may be realized by generating and outputting a control signal instructing specific operations of the bogie 400 by the bogie control command unit 318, and then executing control by the drive control unit 512 and the connection control unit 514 in accordance with the received control signal.

[0073] In step S306, the connection control unit 514 determines whether or not a connection cancellation notification has been received from the remote control device 300. If it is determined that a connection cancellation notification has not been received (step S306: No), the bogie control device 500 executes step S302 again.

[0074] If it is determined that the connection termination notification has been received (step S306: Yes), the connection control unit 514 executes connection termination control in step S308. In this embodiment, the connection control unit 514, upon receiving the connection termination notification, controls the connecting unit 434 to terminate the connection state and set it to a non-connected state.

[0075] In step S310, when the connection detection unit 422 detects that the connection state has been released and that the state has become disconnected, the drive control unit 512 controls the brake device 134 to increase the braking force and decelerate the bogie 400. Furthermore, the drive control unit 512 drives the wheels 432 to move the bogie 400 to a standby position that is located in an earlier process in the manufacturing process than the connection release position where the bogie 400 is located. Since the drive control unit 512 increases the braking force and decelerates the bogie 400 when the connection detection unit 422 detects that the connection unit 434 has become disconnected, the bogie 400 can be quickly removed from the vicinity of the vehicle 100 and the bogie 400 can be prevented from interfering with the transportation of the vehicle 100. Furthermore, since the drive control unit 512 moves the bogie 400 to the standby position that is located in the earlier process in the manufacturing process, the bogie 400 can be attached to another vehicle 100 being transported from the earlier process. Thereafter, the bogie control device 500 executes step S302 again. The vehicle control system 600 including the bogie 400 and the remote control device 300 having the bogie control command unit 318 that realizes the control of the bogie 400 described above corresponds to the "bogie control system" in this disclosure.

[0076] In parallel with the control from step S206 to step S222 described above, in step S224 shown in FIG.

[0077] In step S226, the information acquisition unit 316 refers to the vehicle state information SJ and determines whether the vehicle 100 is located ahead of the position of the vehicle 100 estimated in step S204. attachment The weight of the completed part PT is added to the total vehicle weight WT.

[0078] In step S228, the information acquisition unit 316 determines whether the connection flag JF recorded in the storage device 330 is in the "OFF" state. If it is determined that the connection flag JF is not in the "OFF" state (step S228: No), in other words, if the connection flag JF is in the "ON" state, in step S232, the information acquisition unit 316 adds the weight of the bogie 400 to the total vehicle weight WT. This is because when the bogie 400 is connected to the vehicle 100, frictional forces and inertial forces acting on the vehicle 100 when the bogie 400 is towed act on the vehicle 100, and this can be considered to be the same as a state in which the weight of the bogie 400 is added to the vehicle 100. On the other hand, when the connection flag JF is in the "OFF" state, be If it is determined that the answer is "yes" (step S228: Yes), step S232 is not executed.

[0079] In step S230, the vehicle control command unit 312 generates a control command using the vehicle state information SJ as described above as a control command generation process, and transmits the control command to the vehicle 100. Thereafter, the remote control device 300 ends the control.

[0080] The vehicle control system 600 equipped with the remote control device 300 of the first embodiment described above includes a vehicle control command unit 312 that generates and outputs a control command for moving the vehicle 100, and the vehicle control command unit 312 generates the control command using the vehicle state information SJ. This makes it possible to suppress deviations in the movement control of the vehicle 100 due to unmanned operation that may occur due to at least one of the magnitude of the impact force applied to the vehicle 100, the direction in which the impact force acts, the weight of the vehicle 100, the weight of the bogie 400, and the position in which the vehicle 100 is located.

[0081] Furthermore, using the vehicle state information SJ, a control command is generated to suppress changes in the speed of the vehicle 100 that are caused by at least one of the impact force, the attachment of the part PT to the vehicle 100, the connection of the bogie 400 to the vehicle 100, and the dissolution of the connection between the bogie 400 and the vehicle 100. This makes it possible to suppress changes in the speed of the vehicle 100 that are caused by at least one of the impact force, the attachment of the part PT to the vehicle 100, the connection of the bogie 400 to the vehicle 100, and the dissolution of the connection between the bogie 400 and the vehicle 100.

[0082] Furthermore, the impact force is generated due to at least one of the force acting when the part PT comes into contact with the vehicle 100, the force acting when the part PT is fixed to the vehicle 100, and the force acting when the bogie 400 is connected to the vehicle 100. Therefore, it is possible to suppress deviations in the movement control of the vehicle 100 during unmanned operation that may occur due to at least one of the force acting when the part PT comes into contact with the vehicle 100, the force acting when the part PT is fixed to the vehicle 100, and the force acting when the bogie 400 is connected to the vehicle 100.

[0083] B. Second embodiment: The second embodiment Remote control device 300 The remote control device 300 of the second embodiment differs from the remote control device 300 of the first embodiment in that it uses the vehicle state information SJ to generate a control command to suppress a change in the speed of the vehicle 100, and also generates a control command to suppress a change in the traveling direction of the vehicle 100. The device configuration of the remote control device 300 of the second embodiment and the procedures for other controls realized by the remote control device 300 are the same as those of the first embodiment, so the same configurations and procedures are denoted by the same reference numerals and detailed descriptions thereof will be omitted.

[0084] In the second embodiment, the vehicle control command unit 312 uses, as vehicle status information SJ, the attachment position of the part PT on the vehicle 100 and the connection position of the bogie 400 to the vehicle 100 in addition to the elements used in the first embodiment. The vehicle control command unit 312 uses the attachment position of the part PT on the vehicle 100 and the connection position of the bogie 400 to the vehicle 100 to generate a control command so as to suppress changes in the traveling direction of the vehicle 100 that change depending on the attachment position of the part PT and the connection position of the bogie 400. In this embodiment, the attachment position of the part PT and the connection position of the bogie 400 in each process are stored in advance in the storage device 330 as vehicle status information SJ.

[0085] FIG. 10 is a top view of the vehicle 100. Generation of a control command to suppress a change in the traveling direction of the vehicle 100 will be described with reference to FIG. 10 . In the following description, the terms "rightward toward the traveling direction" and "leftward toward the traveling direction" are simply referred to as "rightward direction" and "leftward direction." As shown in FIG. 10 , the part PT is attached to the vehicle 100 at an attachment position P1 that is offset to the right with respect to the central axis CL. The bogie 400 is connected to the vehicle 100 by a connection part 434 at a connection position P2 that is offset to the right with respect to the central axis CL. In this case, a force that decelerates the vehicle 100 acts to the right, such as the weight of the part PT and the frictional force caused by the traction of the bogie 400. Due to the deceleration force acting to the right, the vehicle 100 travels in a deflected direction D2, which is a direction changed to the right with respect to a target direction D1 that is predetermined as the traveling direction. Furthermore, even if an impact force acts on the vehicle 100 in the right direction, the vehicle 100 also travels in the deflected direction D2. In yet another example, if the vehicle 100 is traveling toward the target direction D1 even when the bogie 400 is connected at connection position P2, and the connection between the vehicle 100 and the bogie 400 is released, the deceleration force acting at connection position P2, which is shifted to the right with respect to the center axis CL of the vehicle 100, is lost, and the vehicle 100 will travel toward the left. That is, the traveling direction of the vehicle 100 changes due to at least one of the following: an impact force acting on the vehicle 100, the attachment of the part PT to the vehicle 100, the connection of the bogie 400 to the vehicle 100, and the release of the connection between the bogie 400 and the vehicle 100. If the change in the traveling direction becomes large, the difference between the position of the vehicle 100 and the target route becomes large, which may cause a problem such as the attachment of the part to the vehicle 100 being hindered.

[0086] In order to solve the above-mentioned problem, in this embodiment, the vehicle control command unit 312 generates a control command to steer the vehicle to the left of the traveling direction with respect to the target direction D1, that is, to a correction direction D3 changed to the opposite direction from the deflection direction D2. More specifically, the vehicle control command unit 312 generates a control command value instructing a steering angle to steer to the correction direction D3, and outputs it to the vehicle 100 as a control command. Furthermore, if the vehicle 100 is configured to be able to drive the left and right wheels with different driving torques, the vehicle control command unit 312 generates a control command value instructing a steering angle to steer to the left of the right wheel, which is acting on a larger deceleration force than the left wheel, and outputs it to the vehicle 100 as a control command. Ring A control command value for the driving force may be generated so that the driving force is greater than the torque, and transmitted as a control command to the vehicle 100. By generating a control command in this manner, the force tending to move in the deflection direction D2 and the force tending to move in the correction direction D3 can be offset, allowing the vehicle 100 to travel in the target direction D1. Note that, as in the first embodiment, the generation of such a control command is executed in accordance with the timing of the mounting and fixation of the part PT on the vehicle 100, and the start and release of the connection between the bogie 400 and the vehicle 100.

[0087] According to the remote control device 300 of the second embodiment described above, a control command is generated using the vehicle state information SJ to suppress changes in the traveling direction of the vehicle 100 that occur due to at least one of the impact force, the attachment of the part PT to the vehicle 100, the connection of the bogie 400 to the vehicle 100, and the release of the connection between the bogie 400 and the vehicle 100. Therefore, it is possible to suppress changes in the traveling direction of the vehicle 100 that occur due to at least one of the impact force, the attachment of the part PT to the vehicle 100, the connection of the bogie 400 to the vehicle 100, and the release of the connection between the bogie 400 and the vehicle 100.

[0088] C. Third embodiment: The remote control device 300 of the third embodiment differs from the remote control device 300 of the first embodiment in that it executes control to reduce the traveling speed of the vehicle 100 in accordance with the total vehicle weight WT. The device configuration of the remote control device 300 of the third embodiment and the procedures for other controls implemented by the remote control device 300 are the same as those of the first embodiment, so the same reference numerals are used for the same configurations and procedures, and detailed descriptions thereof will be omitted.

[0089] When the weight of the vehicle 100 increases, if the vehicle 100 is decelerated with the same braking force as before the weight increase, it takes longer to decelerate the vehicle 100 to the desired speed, and the braking distance increases. In such a case, when the part PT is attached to the vehicle 100, Assembly The speed of the vehicle 100 at the time of arriving at the position exceeds a predetermined speed, or the vehicle 100 is Assembly A delay in the timing at which the vehicle 100 reaches the predetermined position may result in a problem in which the part PT cannot be properly installed. Furthermore, a longer braking distance may cause the vehicle 100 to exceed the predetermined position and come into contact with an obstacle, resulting in damage and an increase in the cycle time for repairs. To solve this problem, in this embodiment, the vehicle control command unit 312 uses information about the weight of the vehicle 100 (hereinafter also referred to as "weight-related information") as the vehicle status information SJ, and generates a control command to reduce the speed of the vehicle 100 when the weight of the vehicle 100 increases, compared to before the weight of the vehicle 100 increased.

[0090] FIG. 11 is a flowchart showing the procedure of the control command generation process executed by the remote control device 300 of this embodiment. In step S402, the information acquisition unit 316 estimates the weight of the vehicle 100. In this embodiment, the total vehicle weight WT is associated with the position of the vehicle 100 and stored in advance in the storage device 330 as vehicle state information SJ. The vehicle state information SJ of this embodiment corresponds to the "position-weight correspondence information" in this disclosure. The storage device 330 corresponds to the "information holding unit." The information acquisition unit 316 uses the position of the vehicle 100 estimated by the position estimation unit 314 and the vehicle state information SJ as the position-weight correspondence information to identify the total vehicle weight WT at the position of the vehicle 100, in other words, to estimate the weight of the vehicle 100. The information acquisition unit 316 of this embodiment corresponds to the "weight estimation unit" in this disclosure.

[0091] In step S404, the vehicle control command unit 312 determines whether the vehicle 100 is in a pre-bumper installation process. The "pre-bumper installation process" refers to a process that precedes the bumper installation process in which a bumper is installed on the outside of the vehicle 100. If it is determined that the vehicle 100 is in the pre-bumper installation process (step S404: Yes), in step S406, the vehicle control command unit 312 determines whether the vehicle 100 is in a manned process. The "manned process" refers to a process in which a worker is present.

[0092] If it is determined that the vehicle 100 is in a manned process (step S406: Yes), in step S408, the vehicle control command unit 312 generates a control command instructing a speed according to the weight of the vehicle 100 and transmits it to the vehicle 100. The vehicle control command unit 312 generates a control command according to the weight of the vehicle 100 so that the speed of the vehicle 100 is reduced compared to before the weight of the vehicle 100 increased. Thereafter, the remote control device 300 ends this process.

[0093] If it is determined that the vehicle 100 is not in the pre-bumper attachment process (step S404: No), that is, if the vehicle 100 is in the post-bumper attachment process, which is a process that follows the bumper attachment process, or if it is determined that the vehicle 100 is in a process that is not a manned process (step S406: No), that is, if the vehicle 100 is in an unmanned process where no worker is present, in step S410, the vehicle control command unit 312 generates a control command instructing a specified speed regardless of the weight of the vehicle 100 and outputs it to the vehicle 100. That is, in such a case, even if the weight of the vehicle 100 has increased, a control command to reduce the speed of the vehicle 100 compared to before the weight of the vehicle 100 increased is not generated. After the bumper installation process, even if the vehicle 100 comes into contact with an obstacle due to the increased weight of the vehicle 100, the degree of damage to the vehicle 100 can be reduced without reducing the speed of the vehicle 100 compared to when the bumper is not installed, thereby shortening the time required for repairs and suppressing an increase in cycle time. Also, in an unmanned process, there is no need to limit the speed in consideration of the working speed of the worker. Furthermore, installing the bumper makes it easier for the worker to recognize the vehicle 100.

[0094] According to the remote control device 300 of the third embodiment described above, when the weight of the vehicle 100 increases, the acquired weight-related information is used to generate a control command to reduce the speed of the vehicle 100 compared to before the weight of the vehicle 100 increased. Therefore, the braking distance of the vehicle 100, which increases according to the weight of the vehicle 100, can be reduced.

[0095] The vehicle control command unit 312 further includes a weight estimation unit that estimates the weight of the vehicle 100 using the weight-related information, and uses the estimated weight of the vehicle 100 to generate a control command such that, when the weight of the vehicle 100 increases, the speed of the vehicle 100 is reduced compared to before the weight of the vehicle 100 increased. Therefore, a control command can be generated that suppresses the speed of the vehicle 100 even depending on the estimated weight of the vehicle 100.

[0096] The system further includes an information storage unit that stores position-weight correspondence information, and the information acquisition unit 316 acquires the position of the vehicle 100 as weight-related information. The weight estimation unit estimates the weight of the vehicle 100 at the position of the vehicle 100 using the position-weight correspondence information and the acquired position of the vehicle 100, so that the weight of the vehicle 100 can be easily estimated using the position of the vehicle 100.

[0097] Furthermore, when vehicle 100 is located in a post-bumper installation process, which is a process that follows the bumper installation process, and the weight of vehicle 100 has increased compared to the weight of vehicle 100 in a process that precedes the post-bumper installation process, a control command is not generated to reduce the speed of vehicle 100 compared to before the weight of vehicle 100 increased, thereby preventing an increase in the time required to transport vehicle 100.

[0098] Furthermore, when the vehicle 100 is located in an unmanned process in the manufacturing process where no workers are present, and the weight of the vehicle 100 has increased compared to the weight of the vehicle 100 in a process prior to the unmanned process, a control command is not generated to reduce the speed of the vehicle 100 compared to before the weight of the vehicle 100 increased, thereby preventing an increase in the time required to transport the vehicle 100.

[0099] D. Fourth embodiment: The remote control device 300 of the fourth embodiment differs from the remote control device 300 of the third embodiment in that, instead of the total vehicle weight WT, displacement information indicating the displacement of a suspension device (not shown) of the vehicle 100 is used as the weight-related information to estimate the weight of the vehicle 100. The device configuration of the remote control device 300 of the fourth embodiment and the procedures for other controls implemented by the remote control device 300 are the same as those of the third embodiment, so the same reference numerals are used to designate the same configurations and procedures, and detailed descriptions thereof will be omitted.

[0100] 11 , in this embodiment, the information acquisition unit 316 estimates the weight of the vehicle 100 using, as weight-related information, displacement information indicating the displacement of a suspension device (not shown) that supports the wheels of the vehicle 100. The displacement information is acquired by a sensor (not shown) that is provided in advance on the vehicle 100 or outside the vehicle 100, and is output to the information acquisition unit 316. The information acquisition unit 316 can estimate the weight of the vehicle 100 at each point in time using the displacement information. The relationship between the displacement information and the weight of the vehicle 100 is identified in advance, for example, by experiments, simulations, or the like, and is stored in the storage device 330 as a table.

[0101] According to the remote control device 300 of the fourth embodiment described above, displacement information indicating the displacement of the suspension device is acquired as weight-related information, and the weight of the vehicle 100 is estimated using the displacement information. Therefore, the weight of the vehicle 100 can be estimated more accurately based on the displacement information that changes depending on the actual weight of the vehicle 100.

[0102] E. Fifth embodiment: 12 is a block diagram showing a schematic configuration of a vehicle control device 200e provided in a vehicle 100 of the fifth embodiment. In this embodiment, a vehicle control 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 a vehicle control device 200e provided in the vehicle 100 has the function of the control device of the present disclosure instead of the remote control device 300. The other configurations of the vehicle control system 600 are the same as those of the first embodiment unless otherwise described.

[0103] As shown in FIG. 12 , the vehicle control device 200e differs from the vehicle control device 200 shown in the first embodiment in that it includes a CPU 210e instead of the CPU 210 and a storage device 230e instead of the storage device 230. Specifically, the storage device 230e stores programs for implementing functions corresponding to the vehicle control command unit 312, position estimation unit 314, information acquisition unit 316, bogie control command unit 318, and robot control command unit 320 included in the remote control device 300, in addition to the functions of the CPU 210 shown in the first embodiment. As a result, the CPU 210e further functions as the vehicle control command unit 214, position estimation unit 216, information acquisition unit 218, bogie control command unit 220, and robot control command unit 222 corresponding to these functions. The storage device 230e also stores the estimated position VL, vehicle state information SJ, and connection flag JF stored in the remote control device 300. According to the vehicle 100 configured in this manner, it is possible to obtain the same effects as those of the first embodiment without using a device separate from the vehicle 100, such as the remote control device 300.

[0104] FIG. 13 is a flowchart showing a driving method of the vehicle 100 according to this embodiment. In step S510, the position estimation unit 216 acquires the position and orientation of the vehicle 100 using the detection results of the vehicle detector 80. In step S520, the vehicle control command unit 214 determines a target position to which the vehicle 100 should next travel. In this embodiment, an ideal route is pre-stored in the storage device 230e of the vehicle control device 200e. In step S530, the vehicle control command unit 214 generates a driving control signal for driving the vehicle 100 toward the determined target position. In step S540, the driving control unit 212 controls the actuator group 140 using the generated driving control signal, thereby causing the vehicle 100 to travel at the acceleration and steering angle indicated by the driving control signal. 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 group 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.

[0105] F. Other Embodiments: (F1) In the above embodiment, the part PT is fixed by a fixed tool TL held by a worker, but the present disclosure is not limited to this. The part PT may also be fixed by a fixed tool TL mounted on the assembly robot RB.

[0106] Furthermore, in the above embodiment, the fixed tool TL is configured as an impact wrench, but the present disclosure is not limited to this. Fixed tool The TL is not limited to a fastening tool such as an impact wrench, but may be a tool that realizes any fastening method that involves contact with the part PT mounted on the vehicle 100 or the vehicle 100, such as spot welding, which clamps and welds a predetermined location between the vehicle 100 and the part PT. Even with this configuration, it is possible to suppress changes in the speed and direction of travel of the vehicle 100 caused by contact of the tool with the part PT or the vehicle 100, and to suppress deviations in the movement control of the vehicle 100.

[0107] (F2) In the above embodiment, the remote control device 300 includes the bogie control command unit 318, but the present disclosure is not limited to this. The remote control device 300 may not include the bogie control command unit 318, and the bogie 400 may be controlled autonomously. For example, the bogie 400 may include a camera that captures images of the surroundings of the bogie 400, and may autonomously control the bogie 400 when it recognizes that the vehicle 100 has reached the connection start position or the connection release position. Vehicle 100 In this embodiment, the remote control device 300 does not need to transmit a connection notification or a connection termination notification to the vehicle 400. This embodiment also achieves the same effects as the above embodiment. In addition, since it is not necessary to transmit a connection notification or a connection termination notification to the vehicle 400, it is possible to prevent the control in the remote control device 300 from becoming complicated.

[0108] (F3) In the above embodiment, the information acquisition unit 316 acquires pre-stored vehicle status information SJ from the storage device 330, but the present disclosure is not limited to this. The information acquisition unit 316 may acquire vehicle status information SJ from a process management device (not shown). The process management device is a device for managing the manufacturing process of the vehicle 100. The process management device is configured with a computer. The process management device acquires information from various facilities in a factory and generates information (hereinafter also referred to as "process information") related to the manufacturing process of the vehicle 100, which is a product. The process information includes information indicating when, where, which worker is scheduled to perform what work on which product; information indicating when, where, which worker performed what work on which product; and information indicating the progress of the work. The process management device is equipped with a communication device and transmits the process information to the remote control device 300 via wired or wireless communication. Note that the remote control device 300 may also have the functions of the process management device.

[0109] The information acquisition unit 316 may also acquire, as the vehicle status information SJ, information acquired by at least one of a sensor provided on the vehicle 100 and a sensor pre-installed outside the vehicle 100. For example, the type of part PT to be attached to the vehicle 100 in each process, whether or not the attachment of the part PT to the vehicle 100 has been completed, the attachment position of the part PT to the vehicle 100, and whether or not the bogie 400 is connected to the vehicle 100 may be identified by analyzing images acquired by the vehicle detector 80. The weight of the vehicle 100, the weight of the bogie 400, and the weight of the part PT may be acquired by weight sensors pre-installed on or near the track along which the vehicle 100 travels. The weight of the part PT may be acquired by a weight sensor pre-installed on the assembly robot RB when the part PT is grasped by the assembly robot RB. The weight of the part PT may be acquired by a weight sensor pre-installed on the vehicle 100 when the part PT is mounted on the vehicle 100. This embodiment achieves the same effects as the above-described embodiment. In addition, the weight of the vehicle 100, the weight of the bogie 400, the weight of the part PT, the attachment position of the part PT to the vehicle 100, the attachment timing, and the timing of connecting the bogie 400 to the vehicle 100 can be identified based on the actual state of the vehicle 100. Therefore, a control command can be generated based on the identified actual weight and timing, and unmanned driving can be performed. Vehicle 100 ( Mobile ) This can further reduce deviations in movement control.

[0110] Furthermore, the impact force acting on the vehicle 100 may be acquired by an acceleration sensor pre-installed on at least one of the vehicle 100, the assembly robot RB, and the bogie 400. The information acquired by the acceleration sensor corresponds to the "impact force information" in this disclosure. This embodiment achieves the same effects as the above-described embodiment. In addition, the control command can be generated using the impact force actually acting on the vehicle 100, and compared to an embodiment in which the control command is generated using a preset impact force, deviations in the movement control of the vehicle 100 during unmanned operation that may be caused by the impact force can be suppressed.

[0111] Furthermore, the timing at which the bogie 400 starts connecting or disconnecting may be determined by acquiring connection cancellation information indicating whether the connection state has been cancelled as a detection result by the connection detection unit 422. This configuration provides the same effects as the above-described embodiment. In addition, it is possible to generate a control command based on the actual connection state, and to suppress deviations in the movement control of the vehicle 100 during unmanned operation caused by the connection state with the bogie 400.

[0112] (F4) In the above embodiment, the vehicle control command unit 312 generates a control command using the vehicle state information SJ acquired by the information acquisition unit 316, but the present disclosure is not limited to this. FIG. 14 is a block diagram showing a schematic configuration of a remote control device 300f of another embodiment. As shown in FIG. 14, the storage device 330f stores a database DB in advance. Furthermore, the CPU 310f does not need to include the information acquisition unit 316. The "database DB" stores information related to the control command and position information of the vehicle 100 in association with each other. The "information related to the control command" is a control command that is specified in advance for each position of the vehicle 100 based on the vehicle state information SJ corresponding to the position information of the vehicle 100, or a correction value that is added to a control command generated without considering the vehicle state information SJ.

[0113] In this embodiment, the vehicle control command unit 312 refers to the database DB to identify a control command or a correction value corresponding to the estimated position VL estimated by the position estimation unit 314. The vehicle control command unit 312 transmits to the vehicle 100 a control command generated by adding the identified correction value to the identified control command or a control command generated without considering the vehicle state information SJ. This embodiment achieves the same effects as the above-described embodiment. In addition, the control command can be easily generated using the database DB, and deviations in the movement control of the vehicle 100 during unmanned operation that may be caused by at least one of the magnitude of the impact force applied to the vehicle 100, the direction of the impact force, the weight of the vehicle 100, the weight of the bogie 400, and the position of the vehicle 100 can be easily suppressed. Note that the remote control device 300f, which includes a storage device 330f that stores the database DB and a functional unit in the remote control device 300f that controls writing and reading to and from the database DB, may be realized as a database management device, a database system, and a computer program for realizing the database DB. In addition, a database management device and a database system including a storage device 330f that stores the database DB and a functional unit in the remote control device 300f that controls writing and reading to the database DB may be realized independently of the remote control device 300.

[0114] (F5) In the above second embodiment, the remote control device 300 generates a control command to suppress changes in the speed of the vehicle 100, as well as to suppress changes in the direction of travel of the vehicle 100, but the present disclosure is not limited to this. Remote control device 300 may simply generate a control command to suppress changes in the traveling direction of the vehicle 100.

[0115] (F6) In the above embodiment, the vehicle control command unit 312 transmits a control command generated using the vehicle state information SJ to the vehicle 100, and the driving control unit 212 included in the vehicle 100 drives the vehicle 100 in accordance with the received control command, but the present disclosure is not limited to this. The vehicle control command unit 312 may transmit a control command generated without considering the vehicle state information SJ to the vehicle 100, and the driving control unit 212 included in the vehicle 100 may correct the received control command using the vehicle state information SJ and drive the vehicle 100 in accordance with the corrected control command. In such a configuration, the driving control unit 212 may acquire, as the vehicle state information SJ, information acquired by at least one of a sensor included in the vehicle 100 and a sensor installed in advance outside the vehicle 100. This configuration also achieves the same effects as the above embodiment.

[0116] (F7) In the control command generation process of the third embodiment, the remote control device 300 executes step S404 and step S406, but the present disclosure is not limited to this. The remote control device 300 may execute only one of step S404 and step S406. According to this embodiment, the execution of the determination process in the control command generation process can be suppressed, thereby suppressing the processing in the remote control device 300 from becoming complicated. In addition, compared to an embodiment in which neither step S404 nor step S406 is executed, an increase in the time required to transport the vehicle 100 can be suppressed.

[0117] Furthermore, the remote control device 300 does not have to execute steps S404, S406, and S410. That is, after estimating the weight of the vehicle 100 in step S402, the remote control device 300 may always generate and output a control command instructing a speed according to the weight of the vehicle 100 in step S408. According to this embodiment, when the weight of the vehicle 100 increases, a control command is always generated so that the speed of the vehicle 100 is reduced compared to before the weight of the vehicle 100 increased. Therefore, in any of the steps, the braking distance of the vehicle 100, which increases according to the weight of the vehicle 100, can be reduced.

[0118] (F8) In the above embodiment, the vehicle control system 600 includes a camera as the vehicle detector 80, but the present disclosure is not limited to this. The vehicle control system 600 may include a LiDAR (Light Detection and Ranging) device as the vehicle detector 80 instead of or in addition to the camera. In this embodiment, the vehicle detector 80 acquires three-dimensional point cloud data of the vehicle 100 in addition to an image of the vehicle 100. "Three-dimensional point cloud data" refers to data indicating the three-dimensional positions of the point cloud. The vehicle control command unit 312 also estimates the position and orientation of the vehicle 100 in the acquired three-dimensional point cloud data. Specifically, the vehicle control command unit 312 performs template matching on the three-dimensional point cloud data using vehicle point cloud data previously stored in the storage device 330. This allows the position and orientation of the vehicle 100 to be estimated with high accuracy in the three-dimensional point cloud data. The estimated position and orientation of the vehicle 100 are stored in the storage device 330 as an estimated position VL. For example, three-dimensional CAD data of the vehicle 100 can be used as the vehicle point cloud data as a template. The vehicle point cloud data includes information for identifying the orientation of the vehicle 100. Template matching of the vehicle point cloud data to the three-dimensional point cloud data can be performed using, for example, an ICP (Iterative Closest Point) algorithm or an NDT (Normal Distribution Transform) algorithm. Note that, if the position of the vehicle 100 can be estimated with high accuracy from the three-dimensional point cloud data, template matching does not need to be performed.

[0119] (F9) In the above embodiments, examples have been given in which the vehicle 100 is a passenger car, truck, bus, construction vehicle, or the like. However, the vehicle 100 is not limited to these, and may be various other moving objects. A "moving object" 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. A vehicle is not limited to an electric vehicle, but also includes a gasoline-powered vehicle, a hybrid vehicle, and a fuel cell vehicle. When a moving object is something other than a vehicle, the terms "vehicle" and "car" in this disclosure may be appropriately replaced with "moving object," and the term "traveling" may be appropriately replaced with "moving." The system for controlling the movement of a moving object described above corresponds to a "moving object control system" in this disclosure.

[0120] (F10) 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.

[0121] (F11) In the above 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.

[0122] (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 group 140.

[0123] (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 group 140 using the generated driving control signal.

[0124] (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, an imaging device, 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.

[0125] (F12) In the above 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.

[0126] (F13) In the above 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 driving control signal for traveling along the generated route, and controls the actuator group 140 using the generated driving 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 congestion information from outside the vehicle 100 and reflect the target arrival time and congestion information in at least one of the route and the driving control signal.

[0127] (F14) In the above embodiment, the remote control device 300 automatically generates the driving control signal to be transmitted to the vehicle 100. Alternatively, the remote control device 300 may generate the 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 steering device including a display that displays an image output from the vehicle detector 80, a steering wheel for remotely operating the vehicle 100, an accelerator pedal, a brake pedal, 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 the driving control signal in accordance with the operation applied to the steering device. In such an embodiment, the vehicle control command unit 312 may generate a correction value taking into account the vehicle state information SJ, and generate a driving control signal that reflects the generated correction value in the driving control signal in accordance with the operation applied to the steering device. This embodiment also achieves the same effects as the above embodiment.

[0128] (F15) Transporting vehicles using unmanned vehicle operation 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 achieved by self-propelled transport.

[0129] 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]

[0130] 80...vehicle detector, 100...vehicle, 110...communication device, 120...sensor group, 130...actuator group, 132...driving device, 134...braking device, 136...steering device, 140...actuator group, 160...driving device, 200, 200e...vehicle control device, 210, 210e...CPU, 212...driving control unit, 214...vehicle control command unit, 216...position estimation unit, 218...information acquisition unit, 220...bogie control Command unit, 222... robot control command unit, 230, 230e... storage device, 240... interface circuit, 300, 300f... remote control device, 310, 310f... CPU, 312... vehicle control command unit, 314... position estimation unit, 316... information acquisition unit, 318... bogie control command unit, 320... robot control command unit, 330, 330f... storage device, 340... interface circuit, 350... communication device, 400... bogie , 410...Communication device, 420...Sensor group, 422...Connection detection unit, 430...Actuator group, 432...Wheels, 434...Connection unit, 500...Bogie control device, 510...CPU, 512...Drive control unit, 514...Connection control unit, 516...Process information acquisition unit, 530...Storage device, 540...Interface circuit, 600...Vehicle control system, C0, C1, C2, C3, C4...Control command value, CL...Center axis, D1...Eye Target direction, D2...deflection direction, D3...correction direction, DB...database, FR0, FR1, FR2, FR3, FR4...external force, JF...connection flag, P1...mounting position, P2...connection position, PT...part, RB...assembly robot, SJ...vehicle status information, T0, T1, T2~T6, T7, T8, T9, T10...time, TL...fixed tool, VL...estimated position, WT, WT0, WT1, WT2, WT3, WT4...total vehicle weight

Claims

1. A control device for controlling movement of a moving body that is transported in a manufacturing process of a moving body that can travel by unmanned operation, a control command unit that generates and outputs a control command for moving the moving body; The control command unit The magnitude of the impact force applied to the moving body; and a direction in which the impact force acts; The weight of the moving body; The weight of a carriage that stores components to be attached to the movable body and is detachably connected to the movable body and moves; a step of positioning the moving body; generating the control command using vehicle state information, which is information relating to at least one of the above; the control command unit generates the control command by utilizing the vehicle state information so as to suppress a change in the speed of the moving body that is caused by at least one of the impact force, attachment of the part to the moving body, connection of the bogie to the moving body, and release of the connection between the bogie and the moving body. Control device.

2. A control device for controlling movement of a mobile body that is transported in a manufacturing process of a mobile body that can travel by unmanned operation, comprising: a control command unit that generates and outputs a control command for moving the moving body; The control command unit The magnitude of the impact force applied to the moving body; and a direction in which the impact force acts; The weight of the moving body; The weight of a carriage that stores components to be attached to the movable body and is detachably connected to the movable body and moves; a step of positioning the moving body; generating the control command using vehicle state information, which is information relating to at least one of the above; the control command unit generates the control command by utilizing the vehicle state information so as to suppress a change in the traveling direction of the moving body that is caused by at least one of the impact force, the attachment of the part to the moving body, the connection of the bogie to the moving body, and the release of the connection between the bogie and the moving body. Control device.

3. The control device according to claim 1, the impact force is a force generated due to at least one of a force acting when the component comes into contact with the movable body, a force acting when the component is fixed to the movable body, and a force acting when the carriage is connected to the movable body, the control command unit generates the control command by using, as the vehicle state information, information relating to at least one of the magnitude of the impact force and the direction in which the impact force acts. Control device.

4. The control device according to claim 3, an information acquisition unit that acquires, as the vehicle state information, impact force information related to the impact force from a sensor that detects the impact force; the control command unit generates the control command by utilizing the acquired impact force information. Control device.

5. The control device according to claim 1, an information acquisition unit that acquires, as the vehicle state information, connection cancellation information from a sensor that acquires connection cancellation information indicating whether a connection state in which the bogie and the moving body are connected has been canceled, the control command unit generates the control command by using the connection termination information. Control device.

6. A control device for controlling movement of a mobile body that is transported in a manufacturing process of a mobile body that can travel by unmanned operation, comprising: a control command unit that generates and outputs a control command for moving the moving body; The control command unit The magnitude of the impact force applied to the moving body; and a direction in which the impact force acts; The weight of the moving body; The weight of a carriage that stores components to be attached to the movable body and is detachably connected to the movable body and moves; a step of positioning the moving body; generating the control command using vehicle state information, which is information relating to at least one of the above; The control device an information acquisition unit that acquires weight-related information, which is information about a weight of the moving body, as the vehicle state information; the control command unit generates the control command by utilizing the acquired weight-related information, when the weight of the moving body increases, so that the speed of the moving body is reduced compared to before the weight of the moving body increases. Control device.

7. The control device according to claim 6, a weight estimation unit that estimates a weight of the moving object using the weight-related information; the control command unit uses the estimated weight of the moving body to generate the control command when the weight of the moving body increases, so that the speed of the moving body is reduced compared to before the weight of the moving body increased. Control device.

8. The control device according to claim 7, an information storage unit that stores position-weight correspondence information that is information in which the position of the moving body and the weight of the moving body are associated with each other; the information acquisition unit acquires a position of the moving body as the weight-related information; the weight estimation unit estimates a weight of the moving body at the position of the moving body by using the position-weight correspondence information and the acquired position of the moving body. Control device.

9. The control device according to claim 7, the information acquisition unit acquires, as the weight-related information, displacement information indicating a displacement of a suspension device that supports a wheel of the moving body; The weight estimation unit estimates a weight of the moving object using the displacement information. Control device.

10. The control device according to claim 6, The control command unit When the moving body is located in a pre-bumper attachment process that is a process prior to a bumper attachment process in which a bumper is attached to the moving body in the manufacturing process, and the weight of the moving body has increased compared to the weight of the moving body in a process prior to the pre-bumper attachment process, the control command is generated so that the speed of the moving body is reduced compared to before the weight of the moving body increased, When the moving body is located in a post-bumper mounting process that is a process subsequent to the bumper mounting process, and the weight of the moving body has increased compared to the weight of the moving body in a process prior to the post-bumper mounting process, the control command is not generated to reduce the speed of the moving body compared to before the weight of the moving body increased. Control device.

11. The control device according to claim 6, The control command unit When the moving object is located in a manned process in the manufacturing process where a worker is present, and the weight of the moving object has increased compared to the weight of the moving object in a process prior to the manned process, the control command is generated so that the speed of the moving object is reduced compared to before the weight of the moving object increased; When the moving body is located in an unmanned process in the manufacturing process where no worker is present, and the weight of the moving body has increased compared to the weight of the moving body in a process prior to the unmanned process, the control command is not generated to reduce the speed of the moving body compared to before the weight of the moving body increased. Control device.

12. The control device according to claim 1, a position estimation unit that estimates the position of the moving object; the control command unit generates the control command by using a database that stores information about the control command and position information of the moving object in association with each other, and the estimated position of the moving object; the information about the control command in the database is specified in advance based on the vehicle state information corresponding to the position of the moving body; Control device.

13. A server device, A control device according to any one of claims 1 to 12, Server device.

14. A server device, The control device according to claim 12; A database, Equipped with The database comprises: information relating to a control command for moving an unmanned mobile body in a manufacturing process of the mobile body and position information of the mobile body are stored in association with each other; The information regarding the control command is The magnitude of the impact force applied to the moving body; and a direction in which the impact force acts; The weight of the moving body; The weight of a carriage that stores components attached to the moving body and is connected to the moving body and moves; a step of positioning the moving body; is specified in advance based on vehicle state information, which is information relating to at least one of the above. Server device.

15. A mobile object, a driving control unit that controls driving of the moving body in accordance with the control command output from the server device according to claim 13; Mobile object.

16. A mobile object, a driving control unit that controls driving of the moving body in accordance with the control command output from the server device according to claim 14; Mobile object.

17. A mobile object, a driving control unit that acquires a control command for moving the moving body and executes driving control of the moving body by using the acquired control command; The operation control unit The magnitude of the impact force applied to the moving body; and a direction in which the impact force acts; The weight of the moving body; The weight of a carriage that stores components to be attached to the movable body and is detachably connected to the movable body and moves; a step of positioning the moving body; correcting the acquired control command using vehicle state information, which is information relating to at least one of the above; Executing the operation control in accordance with the corrected control command; Run The driving control unit corrects the control command by using the vehicle state information so as to suppress a change in the speed of the moving body that is caused by at least one of the impact force, the attachment of the part to the moving body, the connection of the bogie to the moving body, and the release of the connection between the bogie and the moving body. Mobile object.

18. A moving body, a driving control unit that acquires a control command for moving the moving body and executes driving control of the moving body by using the acquired control command; The operation control unit The magnitude of the impact force applied to the moving body; and a direction in which the impact force acts; The weight of the moving body; The weight of a carriage that stores components to be attached to the movable body and is detachably connected to the movable body and moves; a step of positioning the moving body; correcting the acquired control command using vehicle state information, which is information relating to at least one of the above; Executing the operation control in accordance with the corrected control command; Run The driving control unit corrects the control command by using the vehicle state information so as to suppress a change in the traveling direction of the moving body that is caused by at least one of the impact force, the attachment of the part to the moving body, the connection of the bogie to the moving body, and the release of the connection between the bogie and the moving body. Mobile object.

19. A moving body, a driving control unit that acquires a control command for moving the moving body and executes driving control of the moving body by using the acquired control command; The operation control unit The magnitude of the impact force applied to the moving body; and a direction in which the impact force acts; The weight of the moving body; The weight of a carriage that stores components to be attached to the movable body and is detachably connected to the movable body and moves; a step of positioning the moving body; correcting the acquired control command using vehicle state information, which is information relating to at least one of the above; Executing the operation control in accordance with the corrected control command; Run The moving body is an information acquisition unit that acquires weight-related information, which is information about a weight of the moving body, as the vehicle state information; the driving control unit, when a weight of the moving body increases, corrects the control command by using the acquired weight-related information so that the speed of the moving body is reduced compared to before the weight of the moving body increases. Mobile object.

20. A mobile object, A control device according to any one of claims 1 to 12; a driving control unit that controls driving of the moving body in accordance with the control command output from the control device; Equipped with Mobile object.

21. A mobile object, The control device according to claim 12; A database, a driving control unit that controls driving of the moving body in accordance with the control command output from the control device; Equipped with The database comprises: information relating to a control command for moving an unmanned mobile body in a manufacturing process of the mobile body and position information of the mobile body are stored in association with each other; The information regarding the control command is The magnitude of the impact force applied to the moving body; and a direction in which the impact force acts; The weight of the moving body; The weight of a carriage that stores components attached to the moving body and is connected to the moving body and moves; a step of positioning the moving body; is specified in advance based on vehicle state information, which is information relating to at least one of the above. Mobile object.

22. A mobile object control system, The server device according to claim 13; A moving body according to claim 15; Equipped with Mobile control system.

23. A mobile object control system, The server device according to claim 14; A moving body according to claim 16; Equipped with Mobile control system.

24. A mobile object control system, a server device that generates and outputs a control command for moving an unmanned mobile object; A moving body according to any one of claims 17 to 19; Equipped with Mobile control system.

25. A control method for controlling movement of a mobile body that is transported in a manufacturing process of a mobile body that can travel by unmanned operation, comprising: The magnitude of the impact force applied to the moving body; and a direction in which the impact force acts; The weight of the moving body; The weight of a carriage that stores components attached to the moving body and is connected to the moving body and moves; a step of positioning the moving body; generating a control command for moving the moving body by using vehicle state information that is information relating to at least one of the above; In the step, the control command is generated using the vehicle state information so as to suppress a change in the speed of the moving body that is caused by at least one of the impact force, the attachment of the part to the moving body, the connection of the bogie to the moving body, and the release of the connection between the bogie and the moving body. Control method.

26. A control method for controlling movement of a mobile body that is transported in a manufacturing process of a mobile body that can be driven by unmanned operation, comprising: The magnitude of the impact force applied to the moving body; and a direction in which the impact force acts; The weight of the moving body; The weight of a carriage that stores components attached to the moving body and is connected to the moving body and moves; a step of positioning the moving body; generating a control command for moving the moving body by using vehicle state information that is information relating to at least one of the above; In the step, the control command is generated using the vehicle state information so as to suppress a change in the traveling direction of the moving body that is caused by at least one of the impact force, the attachment of the part to the moving body, the connection of the bogie to the moving body, and the release of the connection between the bogie and the moving body. Control method.

27. ​​A control method for controlling movement of a mobile body that is transported in a manufacturing process of a mobile body that can travel by unmanned operation, comprising: The magnitude of the impact force applied to the moving body; and a direction in which the impact force acts; The weight of the moving body; The weight of a carriage that stores components attached to the moving body and is connected to the moving body and moves; a step of positioning the moving body; generating a control command for moving the moving body by using vehicle state information that is information relating to at least one of the above; In the step, acquiring weight-related information, which is information about a weight of the moving body, as the vehicle state information; generating the control command by utilizing the acquired weight-related information, when the weight of the moving body increases, so that the speed of the moving body is reduced compared to before the weight of the moving body increases; Including, Control method.

28. A bogie control system, comprising: A control device according to any one of claims 1 to 12; a carriage for storing parts to be assembled to a moving body in a manufacturing process of the moving body capable of traveling by unmanned operation; Equipped with The carriage is a connection part connected to the moving body; a carriage driving unit that moves the carriage in response to movement of the moving body in a connected state in which the moving body and the carriage are connected by the connection unit; a connection detection unit that detects whether the connection unit is in the connected state; a communication device that transmits a detection result by the connection detection unit to the control device according to any one of claims 1 to 12; a process information acquisition unit that acquires information indicating whether the mobile object has completed a connection state process that is predetermined as a process to be executed in the connection state among the manufacturing processes; a connection control unit that controls the connection unit so that the moving body and the carriage are in a disconnected state when the moving body completes the connected state step; Equipped with The control device a determination unit that determines whether the moving body has completed the connection status process in the manufacturing process; a notification output unit that outputs a connection release notification instructing the mobile unit to release the connection state when the mobile unit completes the connection state process; Furthermore, the connection control unit controls the connection unit to enter the disconnected state when the connection release notification is received. Truck control system.

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