Inspection method for moving objects

Abstract

To provide a technique that can specify a factor causing abnormality in a result of an inspection of a movable body that is movable by remote control.SOLUTION: An inspection method for a movable body that is movable by remote control includes: a first step of giving, from a remote controller to a movable body as an inspection target, an instruction to drive the movable body so as to adjust an output value related to a movement of the movable body to a predetermined target value; a second step of measuring the output value by using an inspection device inspecting the movable body to acquire a measured value; an auxiliary inspection step of, when the difference between the target value and the measured value is not within a first predetermined range, executing the first step and second step for a normal movable body that is different from the inspection target and that has a normal output value; and a third step of performing output indicating that the remote controller has an abnormality when the difference between the target value and the measured value in the normal movable body is outside a second predetermined range in the auxiliary inspection step.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a method for inspecting a moving object. [Background technology]

[0002] For example, Patent Document 1 discloses an inspection system in which an operator runs a vehicle on a roller device and inspects the vehicle's speedometer for abnormalities using the sensor vehicle speed acquired by the vehicle's speed sensor and the roller vehicle speed acquired by the roller device. In this inspection system, if the roller vehicle speed is not within a predetermined reference range, it is determined that the vehicle's speedometer is abnormal. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2020-60459 Summary of the Invention [Problem to be solved by the invention]

[0004] However, even when an abnormality is detected using an inspection device, it is not necessarily an abnormality in the vehicle. For example, it may be an abnormality in the inspection device. Furthermore, when an inspection is performed while the vehicle is running by remote control, it may be an abnormality in the remote control device that executes the remote control. In the conventional technology, when an abnormality occurs, it is difficult to identify whether the cause of the abnormality is the vehicle, the inspection device, or the remote control device. [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 method for inspecting a mobile object that can be moved by remote control, the method comprising: a first step of issuing an instruction from a remote control device to an inspected mobile object to drive the mobile object so that an output value related to the movement of the mobile object becomes a predetermined target value; a second step of measuring the output value using an inspection device that inspects the mobile object to obtain a measured value; an auxiliary inspection step of performing the first and second steps on a normal mobile object different from the inspected mobile object and having a normal output value when a difference between the target value and the measured value for the normal mobile object is not within a predetermined first range; and a third step of outputting an indication that the remote control device is abnormal when a difference between the target value and the measured value for the normal mobile object in the auxiliary inspection step is outside a predetermined second range. According to this type of inspection method, when inspecting the movement of a mobile object that can be moved by remote control, by performing an auxiliary inspection, it is possible to identify that the cause of the abnormality is the remote control device among the object to be inspected, the inspection device, and the remote control device. (2) In the inspection method of the above form, if the difference between the target value and the measured value for the normal moving body is within the second range in the auxiliary inspection process, a subsequent inspection process may be provided in which the first and second processes are performed for a plurality of moving bodies other than the inspection object and the normal moving body, and if the difference between the target value and the measured value for all of the plurality of moving bodies is within a predetermined third range in the subsequent inspection process, a fourth process may be provided in which an output indicating that the inspection object has an abnormality is output. According to this type of inspection method, when inspecting a mobile object that can be moved by remote control, by performing a subsequent inspection, it is possible to identify that the cause of the abnormality is the object being inspected, or the inspection device. (3) In the inspection method of the above form, the normal moving body may be at least one of a moving body that has been determined to be free of abnormalities by inspection with the inspection device while being moved by manual operation, and a moving body that has been determined to be free of abnormalities by performing the first step and the second step with an inspection device different from the inspection device. According to this type of inspection method, a normal vehicle can be prepared in a simple manner. (4) In the inspection method of the above aspect, when an output indicating that the remote control device has an abnormality is output, the abnormality of the remote control device may be notified to a manager of the remote control device. According to this type of inspection method, the result of identifying the cause of the abnormality is notified, so that the remote control device can be repaired early. (5) According to another aspect of the present disclosure, there is provided an inspection method for a moving object that can be moved and stopped by remote control. This inspection method includes a stop instruction process in which a remote control device issues an instruction to the moving body to be inspected to stop the moving motion of the moving body by operating the stopping unit of the moving body so that the braking force applied by the stopping unit of the moving body becomes a predetermined target value; an external force acquisition process in which an inspection device that inspects the moving body applies an external force to the moving body to be inspected while gradually increasing the external force to cause the moving motion of the moving body, and acquires the external force at the timing when the moving motion switches from a state in which the stopping unit stops the moving motion to a state in which the moving motion is moving; an auxiliary inspection process in which, if the difference between the external force acquired at the timing and the external force corresponding to the target value is not within a predetermined target external force range, executes the stop instruction process and the external force acquisition process on a normal moving body different from the inspection body and in which the braking force is normal; and an abnormality output process in which, if the difference between the external force acquired at the timing for the normal moving body and the external force corresponding to the target value in the auxiliary inspection process is outside a predetermined auxiliary target external force range, outputs a signal indicating that there is an abnormality in the remote control device. According to this type of inspection method, when inspecting the stopping part of a mobile body that can be moved by remote control, by performing an auxiliary inspection, it is possible to identify that the cause of the abnormality is the remote control device among the inspection object, the inspection device, and the remote control device. The present disclosure can also be realized in various forms other than an inspection method, such as an inspection system for a moving body, an inspection device, a manufacturing method for a moving body, a control method for an inspection system, a control method for an inspection device, a computer program for implementing the control method, a non-transitory recording medium on which the computer program is recorded, etc. [Brief explanation of the drawings]

[0007] [Figure 1] FIG. 1 is an explanatory diagram showing a schematic configuration of an inspection system according to a first embodiment. [Figure 2] FIG. 2 is a block diagram showing the internal functional configuration of the ECU. [Figure 3] FIG. 2 is a block diagram showing the internal functional configuration of the inspection control device. [Figure 4] 4 is a flowchart showing a processing routine of the inspection method according to the first embodiment. [Figure 5] 10 is a flowchart showing a processing routine of an abnormality identification step. [Figure 6] 10 is a flowchart showing a processing routine of an inspection method according to a second embodiment. [Figure 7] 10 is a flowchart showing a processing routine of an abnormality identifying step in the inspection method according to the second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0008] A. First embodiment: 1 is an explanatory diagram showing a schematic configuration of an inspection system 500 according to a first embodiment of the present disclosure. The inspection system 500 is used, for example, in a factory that manufactures vehicles 100 that can be driven by remote control. The inspection system 500 includes an inspection device 200 and a remote control device 300. The inspection system 500 inspects whether the vehicle 100 can be driven normally at a predetermined speed by remote control.

[0009] The vehicle 100 may be, for example, a passenger car, a truck, a bus, or a construction vehicle. The vehicle 100 is preferably an electric vehicle (BEV: Battery Electric Vehicle). The vehicle 100 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 vehicle 100 includes a vehicle communication unit 190, a power receiving device 150, a motor 140, a battery 120, a wheel speed sensor 170, and an ECU (Electronic Control Unit) 180.

[0010] The vehicle communication unit 190 performs wireless communication with devices outside the vehicle 100 connected to the network 72, such as the inspection device 200 and the remote control device 300, via the access point 70 in the factory. The vehicle communication unit 190 transmits output values ​​corresponding to the inspection items of the inspection device 200, such as the running speed of the vehicle 100, the braking force of the brakes, the number of rotations of the wheels 160, and the state of charge (SOC) of the battery 120, to the remote control device 300 or the inspection device 200.

[0011] The power receiving device 150 includes, for example, a power receiving circuit and a power receiver (not shown). The power receiver is, for example, a power supply inlet corresponding to a power supply connector of the charging device. Instead of the power receiver, a power receiving resonant circuit may be provided for receiving power supplied from the charging device via a power transmitting resonant circuit by contactless power supply using electromagnetic induction. The power receiving circuit is, for example, a rectifier and a DC / DC converter. When AC power is supplied from the power receiver, the power receiving circuit converts the supplied AC power into DC power using the rectifier. The converted DC power is supplied to the battery 120 via the DC / DC converter.

[0012] The motor 140 is, for example, an AC synchronous motor, and functions as both an electric motor and a generator. When the motor 140 functions as an electric motor, the motor 140 is driven by the electric power stored in the battery 120 as a power source. The output of the motor 140 is transmitted to the wheels 160 via a reducer and an axle. When the vehicle 100 decelerates, the motor 140 functions as a generator that uses the rotation of the wheels 160, and generates regenerative electric power.

[0013] The rotation of the wheels 160 is one form of "movement action," which is an action for the moving body to move. The wheels 160 are one form of "movement part," which is a part of the moving body that performs the movement action. The brakes 162 that stop the rotation of the wheels 160 are one form of "stop part," which is provided on the moving body and stops the moving action of the moving body.

[0014] Battery 120 is a rechargeable secondary battery such as a lithium-ion battery or a nickel-metal hydride battery. Battery 120 stores electric power and the like used for traveling vehicle 100. When electric power supplied from a charging device to power receiving device 150 and regenerative electric power generated by motor 140 are supplied to battery 120, battery 120 is charged and the charging rate of battery 120 increases. A PCU (Power Control Unit) having an inverter, a boost converter, and a DC / DC converter may be connected between battery 120 and motor 140.

[0015] The wheel speed sensor 170 detects the rotation speed of each wheel 160. The wheel speed sensor 170 calculates the traveling speed of the vehicle 100 using the detected rotation speed of each wheel 160. Specifically, the wheel speed sensor 170 performs a calculation process such as averaging the rotation speeds of each wheel 160, and then calculates the traveling speed of the vehicle 100 using the rotation speed per unit time. Note that at least a part of the function of calculating the traveling speed of the vehicle 100 may be executed by the vehicle speed acquisition unit 316 or the ECU 180 of the remote control device 300 that acquires the rotation speeds of the wheels 160 from the wheel speed sensor 170.

[0016] A device provided in a moving body that detects output values ​​related to the movement of the moving body is also called a "moving body detection unit." The "output values ​​related to the movement of the moving body" may include the moving speed of the moving body and various output values ​​from which the moving speed of the moving body can be derived. The output values ​​detected by the moving body detection unit are also called "moving body output values."

[0017] A device provided in the vehicle 100 that detects an output value related to the traveling of the vehicle 100 is also referred to as a "vehicle detection unit." The wheel speed sensor 170 is one form of a "vehicle detection unit." The "output value related to the traveling of the vehicle 100" may include the traveling speed of the vehicle 100 and various output values ​​from which the traveling speed of the vehicle 100 can be derived, such as the number of rotations of the wheels 160, the rotation speed of the wheels 160, and the torque of the wheels 160. The traveling speed of the vehicle 100 detected by the vehicle detection unit is also referred to as a "vehicle-side speed."

[0018] FIG. 2 is a block diagram showing the internal functional configuration of the ECU 180. The ECU 180 is mounted on the vehicle 100 and executes various controls of the vehicle 100. The ECU 180 includes a storage device 186 such as an HDD (hard disk drive), an SSD (solid state drive), an optical recording medium, or a semiconductor memory, and a CPU 182 as a central processing unit. Vehicle speed data 188 is stored in a readable / writable area of ​​the storage device 186. The vehicle speed data 188 is a vehicle-side speed obtained from the wheel speed sensor 170. The storage device 186 stores computer programs for realizing at least some of the functions provided in this embodiment. The CPU 182 executes the various computer programs stored in the memory to realize functions such as the driving control unit 184.

[0019] The driving control unit 184 executes driving control of the vehicle 100. "Driving control" refers to various controls for driving each actuator that performs the functions of "running," "turning," and "stopping" of the vehicle 100, such as adjusting acceleration, speed, and steering angle. In driving control of the vehicle 100 by remote control, the driving control unit 184 controls each actuator mounted on the vehicle 100 in accordance with a remote control request received from the remote control device 300 via the vehicle communication unit 190. In this embodiment, the actuators include an actuator of a driving 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 driving device includes a battery 120, a motor 140, and wheels 160. The actuator of the driving device includes the motor 140. Note that the actuators may further include an actuator for swinging the wipers of the vehicle 100, an actuator for opening and closing the power windows of the vehicle 100, and the like.

[0020] When a driver is on board the vehicle 100, the driving control unit 184 controls the actuators in accordance with the driver's operation, thereby causing the vehicle 100 to travel. The driving control unit 184 can also cause the vehicle 100 to travel by controlling the actuators in accordance with a control command transmitted from the remote control device 300, regardless of whether a driver is on board the vehicle 100 or not.

[0021] Returning to FIG. 1 , the remote control device 300 remotely controls the operation of the vehicle 100. For example, the remote control device 300 transports the vehicle 100 in a manufacturing process within a factory by automatically driving the vehicle 100. Transporting the vehicle 100 using automatic driving via remote control is also called "self-driving transport." The remote control device 300 can move the vehicle 100 by remote control without using a transport device such as a crane or conveyor. When the inspection device 200 inspects the vehicle 100, the remote control device 300 automatically drives the vehicle 100 in accordance with a request from the inspection device 200.

[0022] The remote control device 300 includes a CPU 310 as a central processing unit, a storage device 320, and a remote communication unit 390. These are interconnected via an internal bus, an interface circuit, etc. The remote communication unit 390 communicates with the vehicle 100, the inspection device 200, etc. via the network 72.

[0023] The storage device 320 is, for example, a RAM, a ROM, a HDD, an SSD, etc. When the computer program stored in the storage device 320 is executed by the CPU 310, the CPU 310 functions as a remote control unit 312, a vehicle speed acquisition unit 316, and a vehicle information acquisition unit 318. However, some or all of these functions may be configured by hardware circuits.

[0024] The vehicle information acquisition unit 318 acquires vehicle identification information of the vehicle 100 from a process management device or the like installed in each process. "Vehicle identification information" refers to various information that can individually identify the vehicle 100. Examples of vehicle identification information include ID information assigned to each vehicle 100, such as a vehicle identification number (VIN), and a serial number used for production management. The vehicle identification information may also include specification information of the vehicle 100, such as the vehicle model, color, and shape. The vehicle identification information is not limited to information for identifying a single vehicle 100, but may also include information for identifying multiple vehicles 100 in a predetermined unit, such as a lot number. The vehicle identification information can be acquired, for example, via short-range wireless communication from a radio frequency identification (RF-ID) tag attached to the vehicle 100. The vehicle identification information may also be acquired by reading a two-dimensional code attached to the vehicle 100 with a camera or the like.

[0025] The vehicle speed acquisition unit 316 acquires the traveling speed of the vehicle 100 detected by the vehicle 100, i.e., the vehicle-side speed. In this embodiment, the vehicle speed data 188 possessed by the vehicle 100 is acquired via the remote communication unit 390. The vehicle speed acquisition unit 316 may acquire the rotational speed of the wheels 160 from the wheel speed sensor 170 to calculate the traveling speed of the vehicle 100. The acquired vehicle-side speed is stored in the storage device 320 as vehicle speed data 322 associated with the vehicle identification information.

[0026] The remote control unit 312 transmits a control signal to the vehicle 100 via the remote communication unit 390, requesting remote control of the vehicle 100. When the vehicle 100 receives the request for remote control, the ECU 180 realizes driving control, and as a result, the vehicle 100 runs automatically.

[0027] During autonomous transport, the remote control unit 312 acquires vehicle information from a vehicle detector disposed on the track within the factory. "Vehicle information" refers to information including at least one of an image of the vehicle 100 and position information of the vehicle 100. The vehicle detector may be, for example, a camera. The camera is communicatively connected to the remote control device 300 via wireless or wired communication. The camera is fixed in a position where it can capture an image of the vehicle 100 traveling on the track within the factory, and acquires an image of the vehicle 100 as vehicle information. Note that the vehicle detector may acquire the position of the vehicle 100 instead of or in addition to the image of the vehicle 100. When acquiring the position of the vehicle 100, various detectors capable of detecting the position of the vehicle 100, such as LiDAR, infrared sensors, laser sensors, ultrasonic sensors, and millimeter-wave radar, are used as the vehicle detector. Furthermore, "vehicle information" may further include the traveling direction or orientation of the vehicle 100. The traveling direction and orientation of the vehicle 100 can be acquired, for example, by detecting the shape of the vehicle 100 or parts of the vehicle 100. However, the traveling direction and orientation of the vehicle 100 may be estimated by acquiring only the position of the vehicle 100 using a vehicle detector and using changes in the vehicle 100 over time.

[0028] The remote control unit 312 generates control values ​​for each actuator while analyzing the acquired vehicle information, and causes the ECU 180 to execute driving control of the vehicle 100 using the generated control values. For example, the remote control unit 312 adjusts the relative position of the vehicle 100 with respect to a target route set in advance on a road based on the analysis of the vehicle information, thereby causing the vehicle 100 to travel along the target route.

[0029] The inspection device 200 uses the traveling speed detected by a device external to the vehicle 100, such as the inspection device 200, to inspect whether the vehicle 100 can travel normally by remote control. The traveling speed of the vehicle 100 detected by the inspection device 200 is also referred to as the "inspection side speed" or simply as the "measurement value." A device provided in the inspection device 200 that detects an output related to the traveling of the vehicle 100 is also referred to as the "inspection detection unit." Furthermore, if the inspection device 200 determines that there is an abnormality in the inspection results, it identifies whether the abnormality is in the vehicle 100, the remote control device 300, or the inspection device 200.

[0030] The inspection device 200 includes a roller device 250, an inspection control device 210, and an inspection communication unit 290. The inspection communication unit 290 communicates with the remote control device 300, the vehicle 100, and the like via the network 72.

[0031] The roller device 250 acquires the traveling speed of the vehicle 100, which is one form of "output value related to the traveling of the vehicle 100." The roller device 250 includes a roller 256, a motor 252, and a speed sensor 254. As shown in FIG. 1 , when the vehicle 100 is placed in a position where it can be inspected by the inspection device 200, the roller 256 comes into contact with the circumferential surface of the wheel 160 of the vehicle 100. In this state, the roller 256 rotates in accordance with the rotation of the wheel 160.

[0032] The motor 252 can rotate the rollers 256 with a predetermined torque and rotational speed. When the rotation direction of the wheels 160 when the vehicle 100 is moving forward is defined as the forward direction, and the rotation direction when the vehicle 100 is moving backward is defined as the reverse direction, the motor 252 can rotate the wheels 160 in either the forward direction or the reverse direction by switching the rotation direction of the rollers 256.

[0033] The speed sensor 254 is a sensor that detects the rotation speed of the roller 256. For example, a rotary encoder or the like can be used as the speed sensor 254. The speed sensor 254 calculates the traveling speed of the vehicle 100 using the detected rotation speed of the roller 256. The traveling speed of the vehicle 100 may be calculated by the inspection control device 210 that acquires the rotation speed of the roller 256 from the speed sensor 254. The speed sensor 254 is one form of an "inspection detection unit."

[0034] 3 is a block diagram showing the internal functional configuration of the inspection control device 210. The inspection control device 210 includes a CPU 212 as a central processing unit and a storage device 220. These are interconnected via an internal bus, an interface circuit, etc.

[0035] The storage device 220 is, for example, a RAM, a ROM, an HDD (hard disk drive), an SSD (solid state drive), etc. The storage device 220 stores inspection results 222 of the inspection method of the present embodiment. Furthermore, the CPU 212 executes a computer program stored in the storage device 220, causing the CPU 212 to function as an inspection unit 214 and an abnormality identification unit 216. However, some or all of these functions may be configured by hardware circuits.

[0036] The inspection unit 214 uses the inspection side speed acquired by the roller device 250 to inspect whether the vehicle 100 being inspected can run normally by remote control. If the inspection result of the inspection unit 214 indicates an abnormality, the abnormality identification unit 216 executes an abnormality identification step, which is a processing routine for identifying the cause of the abnormality. The inspection result by the inspection unit 214 and the identification result of the cause of the abnormality by the abnormality identification unit 216 are stored in the storage device 220 as inspection result 222.

[0037] 4 is a flowchart showing a processing routine of the inspection method according to the first embodiment. This flow is started by the inspection unit 214 that detects that the vehicle 100 to be inspected has arrived at the inspection process or that the vehicle 100 to be inspected has started self-propelled transportation toward the inspection process. The arrival of the vehicle 100 at the inspection process can be obtained, for example, from the detection result of the vehicle 100 by a sensor, camera, or the like provided at the inspection process.

[0038] In step S10, the remote control unit 312 remotely controls the vehicle 100 to automatically travel and places the vehicle 100 in a position where it can be inspected by the inspection device 200. That is, the remote control unit 312 remotely controls the vehicle 100 to travel and places the vehicle 100 on the roller device 250 as shown in FIG.

[0039] In step S20, the remote control unit 312 transmits a command signal to start the inspection to the inspection device 200. Upon receiving the command signal, the inspection unit 214 starts the inspection. Before starting the inspection, the inspection unit 214 may acquire vehicle identification information from the vehicle 100 to be inspected, and compare the acquired vehicle identification information with the vehicle identification information of the inspection target scheduled for production management.

[0040] In step S30, the inspection unit 214 instructs the vehicle 100 to be inspected to travel at a predetermined running speed as a target value. More specifically, the inspection unit 214 outputs a command signal to the remote control device 300 to cause the vehicle 100 to travel at the predetermined running speed. Upon receiving the command signal, the remote control unit 312 remotely controls the actuators of the vehicle 100 to automatically travel at the predetermined running speed. Hereinafter, the "running speed predetermined as a target value" will also be referred to as the "inspection speed." The inspection speed can be set to any speed, such as 40 km / hr or 60 km / hr. Step S30 is also referred to as the "first step."

[0041] In step S40, the vehicle speed acquisition unit 316 acquires the vehicle-side speed from the wheel speed sensor 170. When the acquired running speed reaches the test speed, the remote control unit 312 causes the vehicle 100 to travel so as to maintain the test speed. In step S50, the vehicle speed acquisition unit 316 outputs to the inspection device 200 a signal that the acquired vehicle-side speed has reached the test speed.

[0042] In step S70, the inspection unit 214 acquires the inspection-side speed as a measured value from the roller device 250. Step S70 is also referred to as the "second step." In step S80, the inspection unit 214 checks whether the difference between the acquired inspection-side speed and the target value given as an instruction is within a first range. The first range can be set to any range, such as ±5 km / hr, ±10 km / hr, or between ±10 km / hr and ±5 km / hr. The first range may also be set according to legal requirements. If the difference between the inspection-side speed and the target value is within the first range (S80: YES), the inspection unit 214 proceeds to step S84 and outputs a message indicating that there is no abnormality in the inspection target.

[0043] If the difference between the inspection-side speed and the target value is outside the first range (S80: NO), the inspection unit 214 proceeds to step S82, determines that an abnormality has occurred, and proceeds to step S100. In step S100, the abnormality identification unit 216 executes an abnormality identification step.

[0044] If an abnormality is determined to exist, it is presumed that the cause is an abnormality in the inspection device 200, an abnormality in the vehicle 100, or an abnormality in the remote control device 300. Abnormalities in the inspection device 200 include, for example, an abnormality in the roller device 250, such as the roller 256 or the speed sensor 254 not operating normally, or an abnormality in the software or hardware of the inspection control device 210. Abnormalities in the vehicle 100 include, for example, a failure of the wheel speed sensor 170 or an abnormality in the ECU 180. Abnormalities in the ECU 180 include, for example, an abnormality in the program stored in the memory device 186 or an abnormality in the instruction value. Abnormalities in the remote control device 300 include, for example, an abnormality in the program stored in the memory device 220, an abnormality in the control value, or an abnormality in communication of the remote communication unit 390.

[0045] FIG. 5 is a flowchart showing the processing routine of the abnormality identification step. In step S110, the abnormality identification unit 216 executes an auxiliary inspection. The "auxiliary inspection" means that in the abnormality identification step, a normal vehicle 100 that has been prepared in advance is used to perform the above-mentioned steps S10 to S80 to check for the presence or absence of an abnormality. The auxiliary inspection is one form of the identification step for identifying whether or not there is an abnormality in the remote control device 300. The "normal vehicle 100" means a vehicle 100 whose output values ​​related to the running of the vehicle 100 are normal. A normal vehicle 100 is a vehicle 100 in a state in which it can be sufficiently estimated that there is no abnormality in the output values ​​related to the vehicle 100's running. For example, the vehicle 100 is determined to be normal by inspection by the inspection device 200 while being manually driven without using the remote control device 300, the vehicle 100 immediately after maintenance has been performed, the vehicle 100 is determined to be normal by the inspection device 200 immediately after maintenance, or the vehicle 100 is determined to be normal by an inspection device other than the inspection device 200 instead of or in addition to the inspection device 200. The normal vehicle 100 may be any one of these vehicles 100, or any combination of multiple vehicles 100. The "auxiliary inspection" includes at least the same steps as the first and second steps described above. In this embodiment, in the auxiliary inspection, the normal vehicle 100 is inspected for abnormalities by performing steps S10 to S80 shown in FIG. 4 using the inspection device 200. The normal vehicle 100 may be a vehicle 100 in the form of a product, or may be a vehicle other than a product that is used exclusively for inspection.

[0046] In step S120, the anomaly identification unit 216 checks the results of the auxiliary inspection. That is, the inspection unit 214 checks whether the difference between the inspection-side speed acquired using a normal vehicle 100 and the target value is within a second range. The second range can be set to any range, such as ±5 km / hr, ±10 km / hr, or a range between ±10 km / hr and ±5 km / hr. In this embodiment, the second range is set to the same range as the first range. However, the second range and the first range may be set to be different from each other. For example, the second range may be set to be narrower than the first range to set stricter inspection conditions for the auxiliary inspection. If the difference between the inspection-side speed and the target value is outside the second range and the auxiliary inspection determines that an abnormality exists (S120: NO), the anomaly identification unit 216 proceeds to step S130 and outputs a message indicating that an abnormality exists in the remote control device 300. Step S130 is also referred to as the "third step." In step S140, the abnormality identifying unit 216 notifies the administrator of the remote control device 300 or the like that there is an abnormality in the remote control device 300 or to prompt repair of the remote control device 300, and then ends this flow.

[0047] If the difference between the inspection-side speed and the target value is within the second range and the auxiliary inspection determines that there is no abnormality (S120: YES), the abnormality identification unit 216 proceeds to step S150. In step S150, the abnormality identification unit 216 performs a subsequent inspection using multiple vehicles 100 other than the vehicle 100 being inspected. The "subsequent inspection" refers to inspecting the presence or absence of an abnormality by performing steps S10 to S80 shown in FIG. 4 using multiple vehicles 100 other than the vehicle 100 being inspected and normal vehicles 100. The subsequent inspection is one form of an identification process for identifying whether or not there is an abnormality in the inspection device 200. The subsequent inspection process may include at least the first and second processes.

[0048] The multiple vehicles 100 used in the subsequent inspection process are preferably multiple vehicles 100 scheduled to be inspected consecutively following the vehicle 100 to be inspected. By having the subsequent inspection of the multiple vehicles 100 also serve as a regular inspection of the multiple vehicles 100, it is possible to suppress a decrease in productivity of the inspection process due to the subsequent inspection. Note that the number of multiple vehicles 100 used in the subsequent inspection may be preset to any number equal to or greater than two. From the viewpoint of improving inspection accuracy, it is preferable to have a large number of vehicles 100.

[0049] In step S160, the results of the inspections of the multiple vehicles 100 are confirmed. If the difference between the acquired inspection speed and the specified target value for at least one vehicle 100 in the subsequent inspection is outside the third range (S160: NO), the anomaly identification unit 216 proceeds to step S170 and outputs a message indicating that the inspection device 200 has an abnormality. The third range can be set to any range, such as ±5 km / hr, ±10 km / hr, or between ±10 km / hr and ±5 km / hr. In this embodiment, the third range is set to the same range as the first range. However, the third range and the first range may be set to be different from each other. For example, the inspection conditions for the subsequent inspection may be made stricter by setting the third range narrower than the first range. In step S180, the anomaly identification unit 216 notifies the administrator of the inspection device 200 that the inspection device 200 has an abnormality or urges the administrator to repair the inspection device 200.

[0050] In step S160, if the difference between the acquired inspection side speed and the target value given as an instruction for all of the multiple vehicles 100 in the subsequent inspection is within the third range (S160: YES), the abnormality identification unit 216 proceeds to step S190 and outputs a message indicating that the vehicle 100 being inspected has an abnormality. Step S190 is also referred to as the "fourth step." In step S200, the remote control unit 312 remotely controls the vehicle 100 being inspected to travel from the inspection step to a repair step where the vehicle 100 can be repaired, and ends this flow.

[0051] As described above, according to the inspection method of this embodiment, the auxiliary inspection step includes a third step of outputting a signal indicating that there is an abnormality in the remote control device 300 if the difference between the target value for a normal vehicle 100 and the inspection side speed is outside a predetermined second range. Therefore, when inspecting a vehicle 100 that can be driven by remote control, by performing an auxiliary inspection using a normal vehicle 100, it is possible to identify that the cause of the abnormality is the remote control device 300 among the vehicle 100 to be inspected, the inspection device 200, and the remote control device 300.

[0052] According to the inspection method of this embodiment, the auxiliary inspection step further includes a subsequent inspection step of executing at least the first and second steps for multiple vehicles 100 when the difference between the target value and the inspection-side speed for a normal vehicle 100 is within a predetermined second range. The subsequent inspection step also includes a fourth step of outputting a signal indicating that an abnormality exists in the vehicle 100 being inspected when the difference between the target value and the inspection-side speed for all of the multiple vehicles 100 is within a predetermined third range. Therefore, in an inspection of whether a remotely controlled, movable vehicle 100 is running normally, the cause of the abnormality can be identified as the vehicle 100 being inspected, out of the vehicle 100 being inspected and the inspection device 200, by performing a subsequent inspection using multiple vehicles 100 with an increased sample size.

[0053] According to the inspection method of this embodiment, a normal vehicle 100 is at least one of a vehicle 100 that has been determined to be normal by inspection by the inspection device 200 while being moved by manual operation, and a vehicle 100 that has been determined to be normal by performing at least the first step and the second step by an inspection device different from the inspection device 200. Therefore, a normal vehicle 100 can be prepared by a simple method.

[0054] According to the inspection method of this embodiment, when an output indicating that there is an abnormality in the remote control device 300 is issued, the abnormality in the remote control device 300 is notified to the manager of the remote control device 300. By notifying the manager of the remote control device 300 of the results of identifying the cause of the abnormality, the remote control device 300 can be repaired early.

[0055] B. Second embodiment: FIG. 6 is a flowchart showing a processing routine of an inspection method according to a second embodiment. While the inspection method of the first embodiment inspects for abnormalities related to the traveling speed of the vehicle 100, the inspection method of this embodiment inspects whether the brakes 162 of the vehicle 100 operate properly. As shown in FIG. 6, this flow differs from the inspection method of the first embodiment shown in FIG. 4 in that steps S30b, S50b, S70b, and S80b are included instead of steps S30, S50, S70, and S80, that step S72 is further included, and that step S40 is not included. This flow may be executed continuously while the vehicle 100 remains placed in the inspection device 200, for example, after the inspection of the first embodiment is completed. In this case, steps S10 and S20 of this flow can be omitted.

[0056] In step S30b, the inspection unit 214 issues an instruction to the vehicle 100 being inspected to operate the brake 162, which is a stopping unit, to stop the rotation of the wheels 160, i.e., to stop the running operation of the vehicle 100. More specifically, the inspection unit 214 outputs a command signal to the remote control device 300 to operate the brake 162 so as to achieve a braking force that is a predetermined target value. Upon receiving the command signal, the remote control unit 312 remotely controls the brake 162 of the vehicle 100 being inspected to achieve the predetermined braking force, thereby stopping the running operation of the vehicle 100. Step S30b is also referred to as a "stop instruction process."

[0057] In step S50b, the remote control unit 312 outputs to the inspection device 200 a signal indicating that the brake 162 has been operated in accordance with the target value. In step S70b, the inspection unit 214 drives the motor 252 of the roller device 250 to rotate the roller 256. Specifically, the inspection unit 214 rotates the roller 256 in contact with the wheel 160, thereby applying an external force to the wheel 160 to rotate the wheel 160 in the forward direction. The "external force to rotate the wheel 160 in the forward direction" refers to, for example, a force applied to the outer periphery of the roller 256 by the motor 252 or a torque of the roller 256 corresponding to the force. The inspection unit 214 gradually increases the torque of the roller 256 until rotation of the wheel 160 is detected by the speed sensor 254 or the like. In step S72, when the roller 256 rotates, the inspection unit 214 detects the rotation of the roller 256, i.e., the rotation of the wheel 160, using the speed sensor 254. The inspection unit 214 acquires the torque applied to the roller 256 at the timing when the rotation of the wheel 160 is detected. Steps S70b and S72 are also referred to as an "external force acquisition step."

[0058] In step S80b, it is confirmed whether the difference between the torque applied to roller 256 at the timing when rotation of wheel 160 is detected and the torque corresponding to the braking force as a target value is within a predetermined target external force range. The target external force range can be set to any range, such as ±5 Nm (Newton-meter) for torque or ±5 N (Newton) for external force. In step S80b, it is possible to check whether brake 162 is applying a braking force to wheel 160 that is the target value. In addition, it is also possible to check for a malfunction in which wheel 160 does not rotate even when a predetermined external force is applied with brake 162 activated.

[0059] If the difference between the torque applied to roller 256 and the torque corresponding to the braking force as the target value is within the target external force range (S80b: YES), inspection unit 214 proceeds to step S84 and outputs a message indicating that no abnormality exists. If the difference between the torque applied to roller 256 and the torque corresponding to the braking force as the target value is outside the target external force range (S80b: NO), inspection unit 214 proceeds to step S82, determines that an abnormality exists, and proceeds to step S100b to execute the abnormality identification process according to the second embodiment.

[0060] 7 is a flowchart showing a processing routine of the anomaly identification step in the inspection method according to the second embodiment. This embodiment differs from the anomaly identification step shown in the first embodiment in that step S120b is provided instead of step S120 and step S160b is provided instead of step S160, but is otherwise similar.

[0061] In step S120b, the results of the inspection using a normal vehicle 100 are confirmed. More specifically, steps S10 to S80b shown in FIG. 6 are executed using a normal vehicle 100. In this embodiment, a normal vehicle 100 means a vehicle 100 in which the braking force applied to the wheels 160 from the brakes 162 is normal. A test is performed on multiple vehicles 100 to see if the difference between the torque applied to the rollers 256 and the torque corresponding to the braking force as a target value is within the auxiliary target external force range. The auxiliary target external force range can be set in the same way as the target external force range. In this embodiment, the auxiliary target external force range is set to the same range as the target external force range. However, the auxiliary target external force range and the target external force range may be set to be different from each other, for example, by setting the auxiliary target external force range to a narrower range than the target external force range. In a normal vehicle 100, if the difference between the torque of the roller 256 and the torque of the target value is outside the auxiliary target external force range (S120b: NO), the process proceeds to step S130, and an output is issued indicating that there is an abnormality in the remote control device 300. The process from step S120b to step S130 is also referred to as the "abnormality output process."

[0062] In step S160b, the results of the inspection performed on the multiple vehicles 100 are confirmed. More specifically, steps S10 to S80b shown in FIG. 6 are executed using the multiple vehicles 100. If the difference between the torque of the rollers 256 and the target torque is within a predetermined subsequent target external force range for all of the multiple vehicles 100 (S160b: YES), the process proceeds to step S190, and an output is issued indicating that an abnormality has occurred in the inspection target. If the difference between the torque of the rollers 256 and the target torque is outside the predetermined subsequent target external force range for at least one of the multiple vehicles 100 (S160b: NO), the process proceeds to step S170, and an output is issued indicating that an abnormality has occurred in the inspection device 200. In this embodiment, the subsequent target external force range is set to the same range as the target external force range. However, the subsequent desired external force range and the desired external force range may be set to be different from each other, for example, by setting the subsequent desired external force range to be a narrower range than the desired external force range.

[0063] As described above, the inspection method of this embodiment includes an auxiliary inspection step in which, in all of the vehicles 100 that are normal, the abnormality output step outputs an indication that there is an abnormality in the remote control device 300 if the difference between the torque applied to the roller 256 acquired at the timing when the wheel 160 rotates and the torque as a target value is outside a predetermined auxiliary target external force range. Therefore, in inspecting the brake 162 of the vehicle 100 that runs by remote control, it is possible to identify that the cause of the abnormality is the remote control device 300 among the vehicle 100 to be inspected, the inspection device 200, and the remote control device 300.

[0064] C. Other Embodiments: (C1) In the above embodiments, examples have been shown that include steps S150, S160, S160b, S170, S180, S190, and S200, but these processes can also be omitted. Even in this case, it is possible to determine whether an abnormality has occurred in the remote control device 300 by the processes of steps S120, S120b, S130, and S140.

[0065] (C2) In the above embodiments, an inspection method for inspecting whether the traveling speed of the vehicle 100 and the brake 162 of the vehicle 100 are appropriate has been described as an example. In contrast, the present disclosure can be applied to an inspection method for inspecting the appropriateness of detected values ​​by various detectors provided on the vehicle 100, such as an acceleration sensor, a sensor for detecting the charge rate of the battery 120, and a sensor for detecting the distance to a target outside the vehicle 100.

[0066] (C3) In the above embodiment, an example was shown in which, in step S150, a plurality of vehicles 100 scheduled to be inspected immediately after the vehicle 100 to be inspected are used as a plurality of vehicles 100 other than the vehicle to be inspected. However, a plurality of arbitrarily selected vehicles 100 not related to the inspection schedule may also be used.

[0067] (C4) In each of the above embodiments, an example was shown in which the CPU 310 of the remote control device 300 functions as the remote control unit 312, the vehicle speed acquisition unit 316, and the vehicle information acquisition unit 318. However, all or part of the functions of the remote control unit 312, the vehicle speed acquisition unit 316, and the vehicle information acquisition unit 318 may be realized by the CPU 212 of the inspection control device 210.

[0068] (C5) In the first embodiment described above, an example was shown in which, in a vehicle 100 that is found to be normal in the auxiliary inspection, the subsequent inspection process is executed if the difference between the acquired inspection-side speed and the target value is outside the second range. In contrast, the subsequent inspection process may be omitted. In this case, a step may be provided in step S120 in which, in a normal vehicle 100, if the difference between the acquired inspection-side speed and the target value is within the second range, an output is issued indicating that there is an abnormality in either the inspection target or the inspection device 200, or that there is no abnormality in the remote control device 300.

[0069] (C6) In the first embodiment, when an output indicating that an inspection target has an abnormality is output, the inspection target is moved by remote control to a location where it can be repaired. However, when an inspection target has an abnormality, another process such as notifying an administrator may be executed instead of or in addition to moving the inspection target by remote control.

[0070] (C7) 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 include various automobiles such as two-wheeled vehicles and four-wheeled vehicles, as well as trains. It may also be various moving bodies other than the vehicle 100. The term "moving body" refers to an object that can move. The term "moving body" includes vehicles, such as ships, aircraft, robots, and linear motor cars. In this case, the terms "vehicle" and "car" in this disclosure may be appropriately replaced with "moving body," and the term "traveling" may be appropriately replaced with "moving." Furthermore, the inspection device 200 detects the movement of a moving part that moves the moving body, instead of the rotation of the wheels 160, to acquire the inspection-side speed of the moving moving body.

[0071] (C8) The vehicle 100 may have a configuration that allows it to move by remote control. For example, it may be in the form of a platform having the configuration described below. Specifically, the vehicle 100 may have a configuration that allows it to perform the functions of "running," "turning," and "stopping" by remote control. In other words, a "vehicle 100 that can move by remote control" may not have at least some of its interior parts, such as a driver's seat or dashboard, at least some of its exterior parts, such as a bumper or fenders, or a body shell. In this case, the remaining parts, such as the body shell, may be attached to the vehicle 100 before it is shipped from the factory, or the remaining parts, such as the body shell, may be attached to the vehicle 100 after it is shipped from the factory without the remaining parts, such as the body shell.

[0072] The control and methods described herein may be implemented by a special-purpose computer configured with a processor and memory programmed to perform one or more functions embodied in a computer program. Alternatively, the control unit and methods described herein may be implemented by a special-purpose computer configured with a processor comprising one or more dedicated hardware logic circuits. Alternatively, the control unit and methods described herein may be implemented by one or more special-purpose computers configured with a processor and memory programmed to perform one or more functions in combination with a processor configured with one or more hardware logic circuits. Furthermore, the computer program may be stored in a computer-readable non-transitory tangible storage medium as instructions executed by a computer.

[0073] 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]

[0074] 70...access point, 72...network, 100...vehicle, 120...battery, 140...motor, 150...power receiving device, 160...wheel, 162...brake, 170...wheel speed sensor, 180...ECU, 182...CPU, 184...driving control unit, 186...storage device, 188...vehicle speed data, 190...vehicle communication unit, 200...inspection device, 210...inspection control device, 212...CPU, 214 ...Inspection unit, 216...abnormality identification unit, 220...storage device, 222...inspection results, 250...roller device, 252...motor, 254...speed sensor, 256...roller, 290...inspection communication unit, 300...remote control device, 310...CPU, 312...remote control unit, 316...vehicle speed acquisition unit, 318...vehicle information acquisition unit, 320...storage device, 322...vehicle speed data, 390...remote communication unit, 500...inspection system

Claims

1. A method for inspecting a mobile object that can be moved by remote control, comprising: a first step of issuing an instruction from a remote control device to a moving object to be inspected to drive the moving object so that an output value related to the movement of the moving object reaches a predetermined target value; a second step of measuring the output value using an inspection device that inspects the moving body and acquiring a measurement value; an auxiliary inspection step of executing the first step and the second step on a normal moving body different from the inspection target and having a normal output value when the difference between the target value and the measured value is not within a predetermined first range; and a third step of outputting an output indicating that an abnormality exists in the remote control device when the difference between the target value and the measured value in the normal moving body is outside a predetermined second range in the auxiliary inspection step. Testing method.

2. The inspection method according to claim 1, a subsequent inspection step of executing the first step and the second step on a plurality of moving bodies other than the inspection target and the normal moving body when the difference between the target value and the measured value for the normal moving body is within the second range in the auxiliary inspection step; and a fourth step of outputting a signal indicating that an abnormality exists in the inspection object when the difference between the target value and the measurement value for all of the plurality of moving bodies is within a predetermined third range in the subsequent inspection step. Testing method.

3. The inspection method described in claim 1, wherein the normal moving body is at least one of a moving body that is determined to be free of abnormalities by inspection by the inspection device while being moved by manual operation, and a moving body that is determined to be free of abnormalities by performing the first step and the second step using an inspection device different from the inspection device.

4. 2. The inspection method according to claim 1, wherein when an output indicating that the remote control device has an abnormality is output, the abnormality in the remote control device is notified to an administrator of the remote control device.

5. An inspection method for a moving object that can be moved and stopped by remote control, comprising: a stop instruction step of issuing an instruction from the remote control device to the moving body to be inspected to stop the moving operation of the moving body by operating the stopping part of the moving body so that the braking force of the stopping part of the moving body becomes a predetermined target value; an external force acquisition step of applying an external force to the inspection object while gradually increasing the external force for causing the moving body to move, using an inspection device that inspects the moving body, and acquiring the external force at the timing when the stopping unit switches from a state in which the moving body is stopped to a state in which the moving body is moving; an auxiliary inspection process for executing the stop instruction process and the external force acquisition process for a normal moving body different from the inspection target, in which the braking force is normal, when a difference between the external force acquired at the timing and the external force corresponding to the target value is not within a predetermined target external force range; and an abnormality output step of outputting an output indicating that there is an abnormality in the remote control device when a difference between the external force acquired at the timing in the normal moving body and the external force corresponding to the target value is outside a predetermined auxiliary target external force range in the auxiliary inspection step. Testing method.

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