Remote Control System

Abstract

To detect an abnormality of a function unit of a remote control system.SOLUTION: The remote control system automatically moves a mobile body by a remote control, and includes a plurality of function units for sending or receiving information to or from each other. At least part of the function units uses information received from the other function units and detects the presence or absence of an abnormality in the other function units.SELECTED DRAWING: Figure 1

Description

[Technical Field]

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

[0002] BACKGROUND ART In a vehicle manufacturing process, a technique for running a vehicle by remote control is known (for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2016 / 066362 Summary of the Invention [Problem to be solved by the invention]

[0004] The remote control of such a vehicle is realized by processing executed by various functional units of the remote control system. If an abnormality occurs in any of the functional units, the results of the processing executed by that functional unit may be inconsistent, which may cause the remote control of the vehicle to become unstable. Therefore, there is a need for a technology to detect whether or not an abnormality exists in the functional units of the remote control system. [Means for solving the problem]

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

[0006] (1) According to one aspect of the present disclosure, there is provided a remote control system for automatically moving a moving object by remote control, the remote control system including a plurality of functional units that transmit and receive information to and from each other, and at least some of the functional units detecting the presence or absence of an abnormality in the other functional units by using information received from the other functional units. According to this remote control device, at least some of the multiple functional units can detect the presence or absence of an abnormality in the functional unit by using information received from the other functional units. (2) In the above remote control system, the plurality of functional units may include a route planning unit that determines a route for moving the moving body, and a moving body identification unit that acquires at least one of the position and orientation of the moving body. According to this remote control system, it is possible to detect the presence or absence of an abnormality in the remote control system including the route planning unit and the moving object identifying unit. (3) In the remote control system, the route planning unit and the moving object identifying unit may mutually detect the presence or absence of the abnormality. According to this remote control system, the route planning unit and the moving object identifying unit mutually detect the presence or absence of an abnormality, so that an abnormality can be detected more stably. (4) In the above remote control system, a functional unit may be provided that, when an abnormality is detected in at least one of the route planning unit and the moving body identification unit, performs at least one of suppressing the moving speed of the moving body and restricting the steering angle. According to this remote control system, when an abnormality is detected, at least one of the following is performed: suppressing the moving speed of the moving body or restricting the steering angle, thereby suppressing the amount of movement of the moving body and reducing the possibility of problems occurring in the moving body's operation. [Brief explanation of the drawings]

[0007] [Figure 1] 1 is an explanatory diagram showing a schematic configuration of a remote control system according to an embodiment of the present invention; [Figure 2] FIG. 2 is a block diagram showing the configuration of a vehicle and a remote control device. [Figure 3] 4 is a flowchart illustrating a procedure for an abnormality detection process according to the present embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0008] A. Implementation: A-1. System Configuration: 1 is an explanatory diagram showing a schematic configuration of a remote control system 10 according to this embodiment. The remote control system 10 includes one or more vehicles 100 as moving objects, a remote control device 200 that generates control commands for remotely controlling the vehicles 100 and transmits them to the vehicles 100, a plurality of vehicle detectors 300 that measure three-dimensional point cloud data of the vehicles 100, and a process control device 400 that controls the manufacturing process of the vehicles 100.

[0009] In this embodiment, the vehicle 100 is configured as an electric vehicle (BEV: Battery Electric Vehicle). The moving body is not limited to an electric vehicle, and may be, for example, a gasoline-powered vehicle, a hybrid vehicle, or a fuel cell vehicle. The moving body is not limited to the vehicle 100, and may be, for example, an electric vertical take-off and landing aircraft (a so-called flying car).

[0010] In this embodiment, remote control is performed to automatically drive the vehicle 100 in a factory that manufactures the vehicle 100. The factory includes a first location PL1 and a second location PL2. The first location PL1 is, for example, a location where the vehicle 100 is assembled, and the second location PL2 is, for example, a location where the vehicle 100 is inspected. The first location PL1 and the second location PL2 are connected by a travel path SR on which the vehicle 100 can travel.

[0011] A plurality of vehicle detectors 300 are installed around the travel path SR to measure the vehicle 100. The vehicle detectors 300 are configured as cameras or LiDAR (Light Detection and Ranging), and acquire images and three-dimensional point cloud data of the vehicle 100.

[0012] The remote control device 200 generates a control command for causing the vehicle 100 to travel along the travel path SR and transmits the control command to the vehicle 100. The vehicle 100 travels in accordance with the received control command. Therefore, the remote control system 10 can remotely control the vehicle 100 to move from the first location PL1 to the second location PL2 without using a transport device such as a crane or conveyor. The remote control device 200 may also generate control commands for controlling the operation of peripheral devices (not shown) present around the travel path SR, such as the vehicle detector 300, shutters, and power supply devices, and transmit the control commands to each device.

[0013] FIG. 2 is a block diagram showing the configuration of the vehicle 100 and the remote control device 200. The vehicle 100 includes a vehicle control device 110 for controlling each part of the vehicle 100, an actuator group 120 that operates under the control of the vehicle control device 110, a communication device 130 for communicating with the remote control device 200 via wireless communication, and a GPS receiver 140 for acquiring position information of the vehicle 100. In this embodiment, the actuator group 120 includes an actuator of a drive device for accelerating the vehicle 100, an actuator of a steering device for changing the traveling direction of the vehicle 100, and an actuator of a braking device for decelerating the vehicle 100. The drive device includes a battery, a traction motor driven by power from the battery, and drive wheels rotated by the traction motor. The actuator of the drive device includes the traction motor. The actuator group 120 may further include an actuator for swinging the wipers of the vehicle 100 and an actuator for opening and closing the power windows of the vehicle 100. The vehicle 100 may also include various object detectors such as a camera, millimeter-wave radar, and LiDAR.

[0014] The vehicle control device 110 is configured by a computer including a processor 111, a memory 112, an input / output interface 113, and an internal bus 114. The processor 111, the memory 112, and the input / output interface 113 are connected via the internal bus 114 to enable bidirectional communication. The input / output interface 113 is connected to an actuator group 120, a communication device 130, and a GPS receiver 140.

[0015] In this embodiment, the processor 111 executes a program PG1 pre-stored in the memory 112, thereby functioning as a vehicle control unit 115 and a position information acquisition unit 116. The vehicle control unit 115 controls the actuator group 120. When a driver is on board the vehicle 100, the vehicle control unit 115 controls the actuator group 120 in accordance with the driver's operation, thereby causing the vehicle 100 to travel. The vehicle control unit 115 can also control the actuator group 120 in accordance with a control command transmitted from the remote control device 200, regardless of whether a driver is on board the vehicle 100. The position information acquisition unit 116 acquires position information indicating the current location of the vehicle 100 using the GPS receiver 140. However, the position information acquisition unit 116 and the GPS receiver 140 are optional.

[0016] The remote control device 200 is configured by a computer including a processor 201, a memory 202, an input / output interface 203, and an internal bus 204. The processor 201, the memory 202, and the input / output interface 203 are connected via the internal bus 204 to enable bidirectional communication. A communication device 205 is connected to the input / output interface 203 to communicate with the vehicle 100 via wireless communication.

[0017] In this embodiment, the processor 201 functions as a system control unit 210, a vehicle identification unit 220, a route planning unit 230, and a remote control command generation unit 240 by executing a program PG2 pre-stored in the memory 202.

[0018] The system control unit 210 controls the start and stop of transportation of the vehicle 100 and the operation of peripheral devices. The system control unit 210 transmits a control start instruction to the vehicle identification unit 220 and the route planning unit 230 when starting transportation of the vehicle 100, and transmits a control end instruction when ending transportation of the vehicle 100. In addition to the control start instruction and control end instruction, the system control unit 210 transmits an authentication code to the vehicle identification unit 220 and the route planning unit 230 for authenticating the content of each control instruction in the abnormality detection process described below.

[0019] Upon receiving a control start instruction from the system control unit 210, the vehicle identification unit 220 acquires information including at least one of the position and orientation of the vehicle 100 (hereinafter also referred to as "measured position information") using images or three-dimensional point cloud data acquired from the vehicle detector 300. The vehicle identification unit 220 acquires the measured position information at predetermined intervals until it receives a control end instruction from the system control unit 210. The vehicle identification unit 220 transmits the acquired measured position information to the system control unit 210 and the route planning unit 230. The vehicle identification unit 220 corresponds to the "mobile object identification unit" in this disclosure.

[0020] When the route planning unit 230 receives a control start instruction from the system control unit 210, it determines a planned route for the vehicle 100 using the measured position information acquired from the vehicle identification unit 220. The route planning unit 230 determines the planned route each time it receives measured position information from the vehicle identification unit 220 until it receives a control end instruction from the system control unit 210. The planned route determined by the route planning unit 230 includes information specifying at least one of the speed and steering angle of the vehicle 100 at each point on the planned route, and planned position information. The speed and steering angle of the vehicle 100 that are not specified in the planned route may be set in advance for each section along the travel path SR. "Planned position information" refers to the estimated position of the vehicle 100 on the planned route at the current time. The planned position information may be estimated as the position of the vehicle 100 if it were to move at a speed and steering angle specified in the planned route or at a predetermined speed and steering angle, based on the measured position information previously acquired from the vehicle identification unit 220. The route planning unit 230 transmits the planned route to the system control unit 210 and the vehicle identification unit 220. The route planning unit 230 also transmits control status information together with the planned route to the system control unit 210. The "control status information" includes information indicating whether the vehicle 100 is traveling or stopped and information indicating whether the vehicle 100 has reached the destination.

[0021] The remote control command generation unit 240 generates a control command for remote control and transmits it to the vehicle 100 so as to cause the vehicle 100 to travel along the planned route determined by the route planning unit 230. The control command can be generated as a command including a driving force or braking force and a steering angle. Alternatively, the remote control command generation unit 240 may generate the control command as a command including at least one of the position and orientation of the vehicle 100 and a future travel route.

[0022] The process control device 400 manages the overall manufacturing process of the vehicle 100 in the factory. For example, when one vehicle 100 starts traveling along a planned route, individual information indicating the identification number, model, etc. of the vehicle 100 is transmitted from the process control device 400 to the remote control device 200. The position of the vehicle 100 detected by the remote control device 200 is also transmitted to the process control device 400. Note that the functions of the process control device 400 may be implemented in the same device as the remote control device 200.

[0023] A-2. Anomaly detection process: 3 is a flowchart showing the procedure of an abnormality detection process by the remote control device 200 of this embodiment. This process is started when the remote control device 200 is started, and is repeatedly executed in each functional unit of the system control unit 210, the vehicle identification unit 220, and the route planning unit 230 while the remote control device 200 is running.

[0024] In step S10, each functional unit acquires information from the other functional units. As described above, in this embodiment, the system control unit 210 acquires actual position information from the vehicle identification unit 220 and acquires planned position information and control status information from the route planning unit 230. The vehicle identification unit 220 acquires a control start / end instruction and an authentication code from the system control unit 210 and acquires planned position information from the route planning unit 230. The route planning unit 230 acquires a control start / end instruction and an authentication code from the system control unit 210 and acquires actual position information from the vehicle identification unit 220. Note that the information transmitted and received between each functional unit is not limited to the above and may be any information handled by each functional unit. For example, the system control unit 210 and the vehicle identification unit 220 may acquire information specifying at least one of the speed and steering angle of the vehicle 100 at each point on the planned route and control status information from the route planning unit 230, instead of or in addition to the planned position information.

[0025] In step S20, each functional unit determines whether the acquired information contains an abnormality. In this embodiment, the system control unit 210 determines that the acquired actual position information contains an abnormality when the difference between the position of the vehicle 100 indicated by the actual position information acquired from the vehicle identification unit 220 and the position of the vehicle 100 indicated by the previously acquired actual position information exceeds a preset threshold. Furthermore, the system control unit 210 determines that the acquired planned position information contains an abnormality when the difference between the position of the vehicle 100 indicated by the planned position information acquired from the route planning unit 230 and the position indicated by the previously acquired planned position information exceeds a preset threshold. The threshold may be set, for example, as the distance traveled when the vehicle 100 travels at a speed preset as the upper limit speed during transportation during the period between the acquisition of the actual position information or the planned position information. When normal remote control is being performed, the difference does not exceed the threshold. Therefore, when the difference exceeds the threshold, there is a high possibility that a malfunction has occurred in the acquired actual position information or the planned position information itself.

[0026] The vehicle identification unit 220 determines that there is an abnormality in the control instruction when there is a difference between the content indicated by the control instruction received from the system control unit 210 and the content of the control instruction indicated by the authentication code. Furthermore, the vehicle identification unit 220 determines that there is an abnormality in the acquired planned position information when the difference between the position of the vehicle 100 indicated by the planned position information acquired from the route planning unit 230 and the position indicated by the previously acquired planned position information exceeds a preset threshold.

[0027] The route planning unit 230 determines that there is an abnormality in the control instruction when there is a difference between the content indicated by the control instruction received from the system control unit 210 and the content of the control instruction indicated by the authentication code. Furthermore, the route planning unit 230 determines that there is an abnormality in the acquired measured position information when the difference between the position of the vehicle 100 indicated by the measured position information acquired from the vehicle identification unit 220 and the position indicated by the previously acquired measured position information exceeds a preset threshold.

[0028] If it is determined that the acquired information contains an abnormality (step S20: Yes), in step S30, each functional unit determines that an abnormality has occurred in the functional unit that sent the information. In step S40, each functional unit generates a control instruction value instructing the vehicle 100 to stop traveling via the remote control command generation unit 240 and transmits the control instruction value to the vehicle 100. This is because if an abnormality occurs in any functional unit, there is a risk that a problem will occur with the traveling of the vehicle 100. Note that the response when it is determined that the acquired information contains an abnormality is not limited to stopping the traveling of the vehicle, but may also include suppressing the speed and steering angle of the vehicle 100, notifying the administrator, etc.

[0029] On the other hand, if it is determined that the acquired information is not abnormal (step S20: No), in step S32, each functional unit determines that the functional unit that transmitted the information is normal. In step S42, each functional unit generates a control instruction value to instruct the vehicle 100 to continue traveling, or a control instruction value to instruct the vehicle 100 to resume traveling if traveling has been stopped due to an abnormality, via the remote control command generation unit 240, and transmits the control instruction value to the vehicle 100.

[0030] Each functional unit repeatedly executes the processes of steps S10 to S42 described above.

[0031] According to the embodiment of the remote control system 10 described above, each functional unit of the system control unit 210, the vehicle identification unit 220, and the route planning unit 230 can detect whether or not there is an abnormality in the functional unit by using information received from other functional units.

[0032] Furthermore, the functional units of the system control unit 210, the vehicle identification unit 220, and the route planning unit 230 mutually detect the presence or absence of an abnormality, so that an abnormality can be detected more stably.

[0033] In addition, when an abnormality is detected, at least one of the following is performed: suppressing the movement speed of vehicle 100; or restricting the steering angle. This suppresses the movement amount of vehicle 100, thereby reducing the possibility of problems occurring in the running of vehicle 100.

[0034] B. Other Embodiments: (B1) In the above embodiment, the abnormality detection process is executed in each of the functional units of the system control unit 210, the vehicle identification unit 220, and the route planning unit 230, but the present disclosure is not limited to this. The number of functional units that detect abnormalities among each other is not limited to three, and may be two, four, or more. The abnormality detection process may be executed in the vehicle control unit 115 included in the vehicle 100 in addition to the system control unit 210, the vehicle identification unit 220, and the route planning unit 230, or instead of any of the system control unit 210, the vehicle identification unit 220, and the route planning unit 230.

[0035] (B2) In the above embodiment, remote control device 200 is configured as a single computer, and system control unit 210, vehicle identification unit 220, and route planning unit 230 are all functional units realized by the same computer, but the present disclosure is not limited to this. Remote control device 200 may also be configured as multiple computers, and system control unit 210, vehicle identification unit 220, and route planning unit 230 may be functional units realized by different computers.

[0036] (B3) In the above embodiment, the system control unit 210, the vehicle identification unit 220, and the route planning unit 230 mutually detect abnormalities, but the present disclosure is not limited to this. For example, the system control unit 210 may detect abnormalities only in the vehicle identification unit 220, the vehicle identification unit 220 may detect abnormalities only in the route planning unit 230, and the route planning unit 230 may detect abnormalities only in the system control unit 210. Furthermore, only some of the functional units among the system control unit 210, the vehicle identification unit 220, and the route planning unit 230 may detect abnormalities in the other functional units.

[0037] (B4) In the above embodiment, each functional unit detects an abnormality based on the content of information received from other functional units, but the present disclosure is not limited to this. For example, each functional unit may determine that an abnormality exists in the other functional unit if no new information is received for a predetermined period of time since the last time information was received from the other functional unit.

[0038] In the above embodiment, the vehicle 100 may be configured to be movable by remote control, and may be in the form of a platform having the configuration described below, for example. Specifically, the vehicle 100 may be configured to have at least a vehicle control unit 115 and a communication device 130 to perform the three functions of "running," "turning," and "stopping" by remote control. That is, the vehicle 100 that can be moved by remote control may not have at least some interior parts such as a driver's seat and a dashboard, may not have at least some exterior parts such as a bumper and a fender, and may not have a body shell. In this case, the remaining parts such as the body shell may be attached to the vehicle 100 before the vehicle 100 is shipped from the factory, or the remaining parts such as the body shell may be attached to the vehicle 100 after the vehicle 100 is shipped from the factory without the remaining parts such as the body shell being attached to the vehicle 100. Note that the position of the platform may also be determined in the same manner as for the vehicle 100 in each embodiment.

[0039] 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]

[0040] 10... remote control system, 100... vehicle, 110... vehicle control device, 111... processor, 112... memory, 113... input / output interface, 114... internal bus, 115... vehicle control unit, 116... position information acquisition unit, 120... actuator group, 130... communication device, 140... GPS receiver, 200... remote control device, 201... processor, 202... memory, 203... input / output interface, 204... internal bus, 205... communication device, 210... system control unit, 220... vehicle identification unit, 230... route planning unit, 240... remote control command generation unit, 300... vehicle detector, 400... process control device, PG1, PG2... program, PL1... first location, PL2... second location, SR... driving path

Claims

1. A remote control system for automatically moving a moving object by remote control, It has a plurality of functional units that transmit and receive information to and from each other, At least some of the plurality of functional units use information received from other functional units to detect whether or not there is an abnormality in the other functional units. Remote control system.

2. 2. The remote control system of claim 1, The plurality of functional units include a route planning unit that determines a route along which the moving object will move, and a moving object identification unit that acquires at least one of a position and an orientation of the moving object. Remote control system.

3. 3. The remote control system according to claim 2, the route planning unit and the moving object identification unit mutually detect the presence or absence of the abnormality; Remote control system.

4. 4. The remote control system according to claim 2 or 3, a functional unit that, when the abnormality is detected in at least one of the route planning unit and the moving object identification unit, executes at least one of suppressing a moving speed of the moving object and limiting a steering angle; Remote control system.

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