Remote control device, control system, mobile device, and remote control method
Patent Information
- Application Number
- JP2023180282
- Authority / Receiving Office
- JP · JP
- Patent Type
- Patents
- Current Assignee / Owner
- Priority Date
- 2023-04-17
- Filing Date
- 2023-10-19
- Publication Date
- 2026-09-08
- Estimated Expiration
- 2043-10-19
AI Technical Summary
【0006】 (1)本開示の第1形態によれば、遠隔制御装置が提供される。無人運転により移動可能な複数の移動体の動作を遠隔制御する遠隔制御装置では、工場において、製造過程における複数の前記移動体に対して複数の製造工程が実行され、複数の前記移動体は、前方移動体と、前記前方移動体の後方を走行する後方移動体と、を含み、前記遠隔制御装置は、前記移動体に対して実行されている一の前記製造工程に関する情報である製造工程情報を、前記前方移動体と前記後方移動体との少なくとも一方について取得する工程情報取得部と、前記製造工程情報に応じて、前記前方移動体と前記後方移動体との間の目標距離を設定する目標設定部と、前記前方移動体と前記後方移動体との間の実距離を前記目標距離とするために、前記前方移動体の前記動作を規定する制御信号としての前方第1制御信号と、前記後方移動体の前記動作を規定する制御信号としての後方第1制御信号と、の少なくとも一方の第1制御信号を生成する信号生成部と、前記動作を制御する対象となる前記移動体に前記第1制御信号を送信する送信部と、を備える。この形態によれば、一の製造工程に関する製造工程情報に応じて、前方移動体と後方移動体との間の目標距離を設定することができる。これにより、前方移動体と後方移動体との間の実距離が製造工程情報に応じた目標距離となるように、前方移動体と後方移動体との間の実距離を調整することができる。このようにすると、前方移動体と後方移動体との間の実距離を、一の製造工程の作業内容に適した移動体間距離に調整することができる。そのため、目標距離よりも前方移動体と後方移動体との間の実距離が必要以上に長くなることを抑制できる。これにより、前方移動体と後方移動体との間の実距離が必要以上に長くなることで、移動体の製造に要する時間が増大する可能性を低減することができる。また、目標距離よりも前方移動体と後方移動体との間の実距離が必要以上に短くなることを抑制できる。これにより、前方移動体と後方移動体との間の実距離が必要以上に短くなることで、移動体を製造するときの作業に支障が生じる可能性を低減することができる。 (2)上記形態であって、前記製造工程情報は、前記前方移動体と前記後方移動体との間の領域に作業員が入って作業する移動体間作業が実行されるか否かを示す移動体間作業情報を含み、前記目標設定部は、前記製造工程情報を用いて、前記移動体間作業が実行される前記製造工程での前記目標距離を、前記移動体間作業が実行されない前記製造工程での前記目標距離よりも長く設定してもよい。この形態によれば、移動体間作業が実行される製造工程での目標距離が、移動体間作業が実行されない製造工程での目標距離よりも長くなるように、目標距離を設定することができる。このようにすると、前方移動体と後方移動体との間に作業員が入って作業するための作業領域をより確実に確保することができる。これにより、移動体間作業に支障が生じる可能性を低減することができると共に、作業員が移動体間作業をするときの安全性を確保することができる。 (3)上記形態であって、前記実距離よりも前記目標距離の方が長い場合に、前記信号生成部は、前進方向の加速度を減少させる減速処理と、前記前進方向とは反対方向に後退させる後退処理と、の少なくとも一方を前記後方移動体に実行させるための前記後方第1制御信号を生成してもよい。この形態によれば、後方移動体の加速度と進行方向との少なくとも一方を制御することで、前方移動体と後方移動体との間の実距離を長くすることができる。 (4)上記形態であって、前記実距離よりも前記目標距離の方が長い場合に、前記信号生成部は、前進方向の加速度を増加させる加速処理を前記前方移動体に実行させるための前記前方第1制御信号を生成してもよい。この形態によれば、前方移動体の加速度を制御することで、前方移動体と後方移動体との間の実距離を長くすることができる。 (5)上記形態であって、前記製造過程は、前記一の製造工程を実行する第1作業場と、前記一の製造工程の次に実行される次製造工程を実行する第2作業場との間を前記移動体が移動する移動過程を有し、前記遠隔制御装置は、さらに、前記一の製造工程が終了したか否かを判断する判断部を備え、前記判断部によって前記移動体間作業が実行される前記一の製造工程が終了したと判断された場合に、前記目標設定部は、前記目標距離を、前記移動体間作業が実行されている場合の前記目標距離よりも短い前記前方移動体と前記後方移動体との間の距離である基準距離に設定し、前記信号生成部は、前記実距離を前記移動過程において前記目標距離としての前記基準距離とするために、前記前方移動体の前記動作を規定する前記制御信号としての前方第2制御信号と、前記後方移動体の前記動作を規定する前記制御信号としての後方第2制御信号と、の少なくとも一方の第2制御信号を生成し、前記送信部は、前記動作を制御する対象となる前記移動体に前記第2制御信号を送信してもよい。この形態によれば、移動体に対して実行されている一の製造工程が終了したか否かを判断することができる。そして、移動体間作業が実行される一の製造工程が終了したと判断した場合に、前方移動体と後方移動体との間の目標距離を、移動体間作業が実行されている場合の目標距離よりも短い基準距離に設定することができる。このようにすると、移動体間作業が実行される一の製造工程が終了したと判断した場合に、移動過程において、前方移動体と後方移動体との間の実距離が基準距離となるように、前方移動体と後方移動体との間の実距離を調整することができる。これにより、一の製造工程の終了後において、前方移動体と後方移動体との間の実距離が必要以上に長くなることを抑制できる。 (6)上記形態であって、前記製造過程は、前記一の製造工程を実行する第1作業場と、前記一の製造工程の次に実行される次製造工程を実行する第2作業場との間を前記移動体が移動する移動過程を有し、前記工程情報取得部は、さらに、前記次製造工程に関する情報である次製造工程情報を取得し、前記遠隔制御装置は、さらに、前記一の製造工程が終了したか否かを判断する判断部を備え、前記判断部によって前記一の製造工程が終了したと判断された場合に、前記目標設定部は、前記目標距離を、前記次製造工程情報に応じた前記前方移動体と前記後方移動体との間の距離である次目標距離に設定し、前記信号生成部は、前記実距離を前記移動過程において前記目標距離としての前記次目標距離とするために、前記前方移動体の前記動作を規定する前方第3制御信号と、前記後方移動体の前記動作を規定する後方第3制御信号と、の少なくとも一方の第3制御信号を生成し、前記送信部は、前記動作を制御する対象となる前記移動体に前記第3制御信号を送信してもよい。この形態によれば、移動体に対して実行されている一の製造工程が終了したか否かを判断することができる。そして、一の製造工程が終了したと判断した場合に、移動過程において、前方移動体と後方移動体との間の目標距離を、次製造工程情報に応じた次目標距離に設定することができる。これにより、一の製造工程が終了したと判断した場合に、前方移動体と後方移動体との間の実距離を、移動過程において、次目標距離に調整することができる。そのため、前方移動体と後方移動体との間の実距離を、次製造工程の作業内容に適した移動体間距離に次製造工程が始まる前に事前に調整することができる。 (7)上記形態であって、前記移動体間作業は、前記遠隔制御装置と通信可能な通信可能装置を前記移動体に組み付ける組付作業であり、前記判断部は、前記遠隔制御装置が前記通信可能装置と通信できる場合に前記移動体間作業が実行される前記一の製造工程が終了したと判断し、前記遠隔制御装置が前記通信可能装置と通信できない場合に前記移動体間作業が実行される前記一の製造工程は終了していないと判断してもよい。この形態によれば、遠隔制御装置と通信可能装置との通信の可否を用いて、一の製造工程が終了したか否かを判断することができる。 (8)本開示の第2形態によれば、移動体が提供される。移動体は、前記移動体を製造するための製造過程において複数の製造工程が実行される工場内を無人運転により移動可能であり、前記移動体は、前記移動体の動作を制御する移動体制御装置を備え、前記移動体制御装置は、前記移動体の外部から受信した制御信号であって、前方移動体と前記前方移動体の後方を移動する後方移動体との間の実距離を前記製造過程に応じた目標距離とするために、前記移動体の前記動作を規定する制御信号を用いて、前記移動体の前記動作を制御する動作制御部を備える。この形態によれば、移動体は、前方移動体と後方移動体との間の実距離を製造過程に応じた目標距離とするための制御信号を用いて、移動体の動作を制御することができる。これにより、前方移動体と後方移動体との間の実距離が製造過程に応じた目標距離となるように、前方移動体と後方移動体との間の実距離を調整することができる。 (9)本開示の第3形態によれば、遠隔制御方法が提供される。無人運転により移動可能な複数の移動体の動作を遠隔制御する遠隔制御方法では、工場において、製造過程における複数の前記移動体に対して複数の製造工程が実行され、複数の前記移動体は、前方移動体と、前記前方移動体の後方を走行する後方移動体と、を含み、前記遠隔制御方法は、前記移動体に対して実行されている一の前記製造工程に関する情報である製造工程情報を、前記前方移動体と前記後方移動体との少なくとも一方について取得する工程情報取得工程と、前記製造工程情報に応じて、前記前方移動体と前記後方移動体との間の目標距離を設定する目標設定工程と、前記前方移動体と前記後方移動体との間の実距離を前記目標距離とするために、前記前方移動体の前記動作を規定する制御信号としての前方第1制御信号と、前記後方移動体の前記動作を規定する制御信号としての後方第1制御信号と、の少なくとも一方の第1制御信号を生成する信号生成工程と、前記動作を制御する対象となる前記移動体に前記第1制御信号を送信する送信工程と、を備える。この形態によれば、一の製造工程に関する製造工程情報に応じて、前方移動体と後方移動体との間の目標距離を設定することができる。これにより、前方移動体と後方移動体との間の実距離が製造工程情報に応じた距離となるように、前方移動体と後方移動体との間の実距離を調整することができる。このようにすると、前方移動体と後方移動体との間の実距離を、一の製造工程の作業内容に適した移動体間距離に調整することができる。そのため、目標距離よりも前方移動体と後方移動体との間の実距離が必要以上に長くなることを抑制できる。これにより、前方移動体と後方移動体との間の実距離が必要以上に長くなることで、移動体の製造に要する時間が増大する可能性を低減することができる。また、目標距離よりも前方移動体と後方移動体との間の実距離が必要以上に短くなることを抑制できる。これにより、前方移動体と後方移動体との間の実距離が必要以上に短くなることで、移動体を製造するときの作業に支障が生じる可能性を低減することができる。 (10)本開示の第4形態によれば、制御システムが提供される。無人運転により移動可能な複数の移動体の動作を制御する制御システムでは、工場において、製造過程における複数の前記移動体に対して複数の製造工程が実行され、前記制御システムは、前方移動体と、前記前方移動体の後方を走行する後方移動体と、を含む前記複数の移動体と、前記移動体に対して実行されている一の前記製造工程に関する情報である製造工程情報を、前記前方移動体と前記後方移動体との少なくとも一方について取得する工程情報取得部と、前記製造工程情報に応じて、前記前方移動体と前記後方移動体との間の目標距離を設定する目標設定部と、前記前方移動体と前記後方移動体との間の実距離を前記目標距離とするために、前記前方移動体の前記動作を規定する制御信号としての前方第1制御信号と、前記後方移動体の前記動作を規定する制御信号としての後方第1制御信号と、の少なくとも一方の第1制御信号を生成する信号生成部と、前記第1制御信号を用いて、前記移動体の前記動作を制御する動作制御部と、を備える。この形態によれば、一の製造工程に関する製造工程情報に応じて、前方移動体と後方移動体との間の目標距離を設定することができる。これにより、前方移動体と後方移動体との間の実距離が製造工程情報に応じた目標距離となるように、前方移動体と後方移動体との間の実距離を調整することができる。このようにすると、前方移動体と後方移動体との間の実距離を、一の製造工程の作業内容に適した移動体間距離に調整することができる。そのため、目標距離よりも前方移動体と後方移動体との間の実距離が必要以上に長くなることを抑制できる。これにより、前方移動体と後方移動体との間の実距離が必要以上に長くなることで、移動体の製造に要する時間が増大する可能性を低減することができる。また、目標距離よりも前方移動体と後方移動体との間の実距離が必要以上に短くなることを抑制できる。これにより、前方移動体と後方移動体との間の実距離が必要以上に短くなることで、移動体を製造するときの作業に支障が生じる可能性を低減することができる。 (11)上記形態であって、前記製造工程情報は、前記前方移動体と前記後方移動体との間の領域に作業員が入って作業する移動体間作業が実行されるか否かを示す移動体間作業情報を含み、前記目標設定部は、前記製造工程情報を用いて、前記移動体間作業が実行される前記製造工程での前記目標距離を、前記移動体間作業が実行されない前記製造工程での前記目標距離よりも長く設定してもよい。この形態によれば、移動体間作業が実行される製造工程での目標距離が、移動体間作業が実行されない製造工程での目標距離よりも長くなるように、目標距離を設定することができる。このようにすると、前方移動体と後方移動体との間に作業員が入って作業するための作業領域をより確実に確保することができる。これにより、移動体間作業に支障が生じる可能性を低減することができると共に、作業員が移動体間作業をするときの安全性を確保することができる。 (12)上記形態であって、前記実距離よりも前記目標距離の方が長い場合に、前記信号生成部は、前進方向の加速度を減少させる減速処理と、前記前進方向とは反対方向に後退させる後退処理と、の少なくとも一方を前記後方移動体に実行させるための前記後方第1制御信号を生成してもよい。この形態によれば、後方移動体の加速度と進行方向との少なくとも一方を制御することで、前方移動体と後方移動体との間の実距離を長くすることができる。 (13)上記形態であって、前記実距離よりも前記目標距離の方が長い場合に、前記信号生成部は、前進方向の加速度を増加させる加速処理を前記前方移動体に実行させるための前記前方第1制御信号を生成してもよい。この形態によれば、前方移動体の加速度を制御することで、前方移動体と後方移動体との間の実距離を長くすることができる。 (14)上記形態であって、前記製造過程は、前記一の製造工程を実行する第1作業場と、前記一の製造工程の次に実行される次製造工程を実行する第2作業場との間を前記移動体が移動する移動過程を有し、前記制御システムは、さらに、前記一の製造工程が終了したか否かを判断する判断部を備え、前記判断部によって前記移動体間作業が実行される前記一の製造工程が終了したと判断された場合に、前記目標設定部は、前記目標距離を、前記移動体間作業が実行されている場合の前記目標距離よりも短い前記前方移動体と前記後方移動体との間の距離である基準距離に設定し、前記信号生成部は、前記実距離を前記移動過程において前記目標距離としての前記基準距離とするために、前記前方移動体の前記動作を規定する前記制御信号としての前方第2制御信号と、前記後方移動体の前記動作を規定する前記制御信号としての後方第2制御信号と、の少なくとも一方の第2制御信号を生成し、前記動作制御部は、前記移動過程において、前記第1制御信号を用いることなく、前記第2制御信号を用いて、前記移動体の前記動作を制御してもよい。この形態によれば、移動体に対して実行されている一の製造工程が終了したか否かを判断することができる。そして、移動体間作業が実行される一の製造工程が終了したと判断した場合に、前方移動体と後方移動体との間の目標距離を、移動体間作業が実行されている場合の目標距離よりも短い基準距離に設定することができる。このようにすると、移動体間作業が実行される一の製造工程が終了したと判断した場合に、移動過程において、前方移動体と後方移動体との間の実距離が基準距離となるように、前方移動体と後方移動体との間の実距離を調整することができる。これにより、一の製造工程の終了後において、前方移動体と後方移動体との間の実距離が必要以上に長くなることを抑制できる。 (15)上記形態であって、前記製造過程は、前記一の製造工程を実行する第1作業場と、前記一の製造工程の次に実行される次製造工程を実行する第2作業場との間を前記移動体が移動する移動過程を有し、前記工程情報取得部は、さらに、前記次製造工程に関する情報である次製造工程情報を取得し、前記制御システムは、さらに、前記一の製造工程が終了したか否かを判断する判断部を備え、前記判断部によって前記一の製造工程が終了したと判断された場合に、前記目標設定部は、前記目標距離を、前記次製造工程情報に応じた前記前方移動体と前記後方移動体との間の距離である次目標距離に設定し、前記信号生成部は、前記実距離を前記移動過程において前記目標距離としての前記次目標距離とするために、前記前方移動体の前記動作を規定する前方第3制御信号と、前記後方移動体の前記動作を規定する後方第3制御信号と、の少なくとも一方の第3制御信号を生成し、前記動作制御部は、前記移動過程において、前記第1制御信号を用いることなく、前記第3制御信号を用いて、前記移動体の前記動作を制御してもよい。この形態によれば、移動体に対して実行されている一の製造工程が終了したか否かを判断することができる。そして、一の製造工程が終了したと判断した場合に、移動過程において、前方移動体と後方移動体との間の目標距離を、次製造工程情報に応じた次目標距離に設定することができる。これにより、一の製造工程が終了したと判断した場合に、前方移動体と後方移動体との間の実距離を、移動過程において、次目標距離に調整することができる。そのため、前方移動体と後方移動体との間の実距離を、次製造工程の作業内容に適した移動体間距離に次製造工程が始まる前に事前に調整することができる。 (16)上記形態であって、前記移動体間作業は、前記移動体の外部と通信可能な通信可能装置を前記移動体に組み付ける組付作業であり、前記判断部は、前記通信可能装置が前記移動体の前記外部と通信できる場合に前記移動体間作業が実行される前記一の製造工程が終了したと判断し、前記通信可能装置が前記移動体の前記外部と通信できない場合に前記移動体間作業が実行される前記一の製造工程は終了していないと判断してもよい。この形態によれば、移動体の外部と通信可能装置との通信の可否を用いて、一の製造工程が終了したか否かを判断することができる。 (17)本開示の第5形態によれば、移動体が提供される。移動体は、前記移動体を製造するための製造過程において複数の製造工程が実行される工場内を無人運転により移動可能であり、前記移動体は、自身である自移動体の動作を制御する移動体制御装置を備え、前記移動体制御装置は、前記自移動体と、前記自移動体の前方と後方との少なくとも一方を移動する他の前記移動体である他移動体と、の少なくとも一方の前記移動体に対して実行されている一の前記製造工程に関する情報である製造工程情報を取得する工程情報取得部と、前記製造工程情報に応じて、前記自移動体と前記他移動体との間の目標距離を設定する目標設定部と、前記自移動体と前記他移動体との間の実距離を前記目標距離とするために、前記自移動体の前記動作を規定する制御信号としての第1制御信号を生成する信号生成部と、前記第1制御信号を用いて、前記自移動体の前記動作を制御する動作制御部と、を備える。この形態によれば、一の製造工程に関する製造工程情報に応じて、自移動体と他移動体との間の目標距離を設定することができる。これにより、自移動体と他移動体との間の実距離が製造工程情報に応じた目標距離となるように、自移動体と他移動体との間の実距離を調整することができる。このようにすると、自移動体と他移動体との間の実距離を、一の製造工程の作業内容に適した移動体間距離に調整することができる。そのため、目標距離よりも自移動体と他移動体との間の実距離が必要以上に長くなることを抑制できる。これにより、自移動体と他移動体との間の実距離が必要以上に長くなることで、移動体の製造に要する時間が増大する可能性を低減することができる。また、目標距離よりも自移動体と他移動体との間の実距離が必要以上に短くなることを抑制できる。これにより、自移動体と他移動体との間の実距離が必要以上に短くなることで、移動体を製造するときの作業に支障が生じる可能性を低減することができる。 (18)上記形態であって、前記製造工程情報は、前記自移動体と前記他移動体との間の領域に作業員が入って作業する移動体間作業が実行されるか否かを示す移動体間作業情報を含み、前記目標設定部は、前記製造工程情報を用いて、前記移動体間作業が実行される前記製造工程での前記目標距離を、前記移動体間作業が実行されない前記製造工程での前記目標距離よりも長く設定してもよい。この形態によれば、移動体間作業が実行される製造工程での目標距離が、移動体間作業が実行されない製造工程での目標距離よりも長くなるように、目標距離を設定することができる。このようにすると、自移動体と他移動体との間に作業員が入って作業するための作業領域をより確実に確保することができる。これにより、移動体間作業に支障が生じる可能性を低減することができると共に、作業員が移動体間作業をするときの安全性を確保することができる。 (19)上記形態であって、前記実距離よりも前記目標距離の方が長い場合であって、前記自移動体が前記他移動体の前記後方を移動している場合に、前記信号生成部は、前進方向の加速度を減少させる減速処理と、前記前進方向とは反対方向に後退させる後退処理と、の少なくとも一方を前記自移動体に実行させるための前記第1制御信号を生成してもよい。この形態によれば、自移動体の加速度と進行方向との少なくとも一方を制御することで、自移動体と他移動体との間の実距離を長くすることができる。 (20)上記形態であって、前記実距離よりも前記目標距離の方が長い場合であって、前記自移動体が前記他移動体の前記前方を移動している場合に、前記信号生成部は、前進方向の加速度を増加させる加速処理を前記自移動体に実行させるための前記第1制御信号を生成してもよい。この形態によれば、自移動体の加速度を制御することで、自移動体と他移動体との間の実距離を長くすることができる。 (21)上記形態であって、前記製造過程は、前記一の製造工程を実行する第1作業場と、前記一の製造工程の次に実行される次製造工程を実行する第2作業場との間を前記移動体が移動する移動過程を有し、前記移動体制御装置は、さらに、前記一の製造工程が終了したか否かを判断する判断部を備え、前記判断部によって前記移動体間作業が実行される前記一の製造工程が終了したと判断された場合に、前記目標設定部は、前記目標距離を、前記移動体間作業が実行されている場合の前記目標距離よりも短い前記自移動体と前記他移動体との間の距離である基準距離に設定し、前記信号生成部は、前記実距離を前記移動過程において前記目標距離としての前記基準距離とするために、前記自移動体の前記動作を規定する前記制御信号としての第2制御信号を生成し、前記動作制御部は、前記移動過程において、前記第1制御信号を用いることなく、前記第2制御信号を用いて、前記自移動体の前記動作を制御してもよい。この形態によれば、移動体に対して実行されている一の製造工程が終了したか否かを判断することができる。そして、移動体間作業が実行される一の製造工程が終了したと判断した場合に、自移動体と他移動体との間の目標距離を、移動体間作業が実行されている場合の目標距離よりも短い基準距離に設定することができる。このようにすると、移動体間作業が実行される一の製造工程が終了したと判断した場合に、移動過程において、自移動体と他移動体との間の実距離が基準距離となるように、自移動体と他移動体との間の実距離を調整することができる。これにより、一の製造工程の終了後において、自移動体と他移動体との間の実距離が必要以上に長くなることを抑制できる。 (22)上記形態であって、前記製造過程は、前記一の製造工程を実行する第1作業場と、前記一の製造工程の次に実行される次製造工程を実行する第2作業場との間を前記移動体が移動する移動過程を有し、前記工程情報取得部は、さらに、前記次製造工程に関する情報である次製造工程情報を取得し、前記移動体制御装置は、さらに、前記一の製造工程が終了したか否かを判断する判断部を備え、前記判断部によって前記一の製造工程が終了したと判断された場合に、前記目標設定部は、前記目標距離を、前記次製造工程情報に応じた前記自移動体と前記他移動体との間の距離である次目標距離に設定し、前記信号生成部は、前記実距離を前記移動過程において前記目標距離としての前記次目標距離とするために、前記自移動体の前記動作を規定する第3制御信号を生成し、前記動作制御部は、前記移動過程において、前記第1制御信号を用いることなく、前記第3制御信号を用いて、前記自移動体の前記動作を制御してもよい。この形態によれば、移動体に対して実行されている一の製造工程が終了したか否かを判断することができる。そして、一の製造工程が終了したと判断した場合に、移動過程において、自移動体と他移動体との間の目標距離を、次製造工程情報に応じた次目標距離に設定することができる。これにより、一の製造工程が終了したと判断した場合に、自移動体と他移動体との間の実距離を、移動過程において、次目標距離に調整することができる。そのため、自移動体と他移動体との間の実距離を、次製造工程の作業内容に適した移動体間距離に次製造工程が始まる前に事前に調整することができる。 (23)上記形態であって、前記移動体間作業は、前記移動体の外部と通信可能な通信可能装置を前記移動体に組み付ける組付作業であり、前記判断部は、前記通信可能装置が前記自移動体の外部と通信できる場合に前記移動体間作業が実行される前記一の製造工程が終了したと判断し、前記通信可能装置が前記自移動体の前記外部と通信できない場合に前記移動体間作業が実行される前記一の製造工程は終了していないと判断してもよい。この形態によれば、移動体の外部と通信可能装置との通信の可否を用いて、一の製造工程が終了したか否かを判断することができる。 (24)本開示の第6形態によれば、動作制御方法が提供される。無人運転により移動可能な複数の移動体の動作を制御する動作制御方法では、工場において、製造過程における複数の前記移動体に対して複数の製造工程が実行され、複数の前記移動体は、前方移動体と、前記前方移動体の後方を走行する後方移動体と、を含み、前記動作制御方法は、前記移動体に対して実行されている一の前記製造工程に関する情報である製造工程情報を、前記前方移動体と前記後方移動体との少なくとも一方について取得する工程情報取得工程と、前記製造工程情報に応じて、前記前方移動体と前記後方移動体との間の目標距離を設定する目標設定工程と、前記前方移動体と前記後方移動体との間の実距離を前記目標距離とするために、前記前方移動体の前記動作を規定する制御信号としての前方第1制御信号と、前記後方移動体の前記動作を規定する制御信号としての後方第1制御信号と、の少なくとも一方の第1制御信号を生成する信号生成工程と、前記第1制御信号を用いて、前記移動体の前記動作を制御する動作制御工程と、を備える。この形態によれば、一の製造工程に関する製造工程情報に応じて、前方移動体と後方移動体との間の目標距離を設定することができる。これにより、前方移動体と後方移動体との間の実距離が製造工程情報に応じた目標距離となるように、前方移動体と後方移動体との間の実距離を調整することができる。このようにすると、前方移動体と後方移動体との間の実距離を、一の製造工程の作業内容に適した移動体間距離に調整することができる。そのため、目標距離よりも前方移動体と後方移動体との間の実距離が必要以上に長くなることを抑制できる。これにより、前方移動体と後方移動体との間の実距離が必要以上に長くなることで、移動体の製造に要する時間が増大する可能性を低減することができる。また、目標距離よりも前方移動体と後方移動体との間の実距離が必要以上に短くなることを抑制できる。これにより、前方移動体と後方移動体との間の実距離が必要以上に短くなることで、移動体を製造するときの作業に支障が生じる可能性を低減することができる。 本開示は、上記の遠隔制御装置、制御システム、移動体、遠隔制御方法、および、動作制御方法以外の種々の形態で実現することが可能である。例えば、遠隔制御装置、制御システム、および、移動体の製造方法、遠隔制御方法および動作制御方法を実現するコンピュータプログラム、そのコンピュータプログラムを記録した一時的でない記録媒体等の形態で実現することができる。
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Abstract
Description
Technical Field
[0001] The present disclosure relates to a remote control device, a control system, a moving body, a remote control method, and an operation control method.
Background Art
[0002] Conventionally, there has been known a vehicle that automatically travels by remote control within a manufacturing system for producing vehicles (Patent Document 1).
Prior Art Literature
Patent Literature
[0003]
Patent Document 1
Summary of the Invention
Problem to be Solved by the Invention
[0004] In conventional techniques, there may occur a case where the actual inter-vehicle distance between vehicles that automatically travel by remote control does not become an inter-vehicle distance suitable for the work content of the manufacturing process performed in the manufacturing process. Accordingly, when the actual inter-vehicle distance is longer than the inter-vehicle distance suitable for the work content, the time required for manufacturing the vehicle increases. Further, when the actual inter-vehicle distance is shorter than the inter-vehicle distance suitable for the work content, the work may be hindered. Such a problem is common not only to vehicles but also to moving bodies.
Means for Solving the Problem
[0005] The present disclosure can be implemented as the following embodiments.
[0006] (1) According to a first embodiment of the present disclosure, a remote control device is provided. The remote control device remotely controls the operation of a plurality of mobile bodies that are movable by unmanned operation, wherein in a factory, a plurality of manufacturing processes are performed on the plurality of the mobile bodies in the manufacturing process, and the plurality of mobile bodies include a forward mobile body and a rear mobile body that travels behind the forward mobile body, and the remote control device comprises: a process information acquisition unit that acquires manufacturing process information, which is information relating to one of the manufacturing processes being performed on the mobile bodies, for at least one of the forward mobile body and the rear mobile body; a target setting unit that sets a target distance between the forward mobile body and the rear mobile body according to the manufacturing process information; a signal generation unit that generates at least one of a first control signal, a forward first control signal as a control signal that defines the operation of the forward mobile body and a rear first control signal as a control signal that defines the operation of the rear mobile body, in order to make the actual distance between the forward mobile body and the rear mobile body the target distance; and a transmission unit that transmits the first control signal to the mobile body whose operation is to be controlled. This configuration allows for setting a target distance between a forward-moving body and a backward-moving body according to manufacturing process information for a single manufacturing process. This allows for adjusting the actual distance between the forward-moving body and the backward-moving body so that the actual distance between them becomes the target distance according to the manufacturing process information. In this way, the actual distance between the forward-moving body and the backward-moving body can be adjusted to a distance between the moving bodies that is appropriate for the work content of a single manufacturing process. Therefore, it is possible to prevent the actual distance between the forward-moving body and the backward-moving body from becoming unnecessarily long compared to the target distance. This reduces the possibility that the time required to manufacture the moving body will increase due to the actual distance between the forward-moving body and the backward-moving body becoming unnecessarily long. Furthermore, it is possible to prevent the actual distance between the forward-moving body and the backward-moving body from becoming unnecessarily short compared to the target distance. This reduces the possibility that the work when manufacturing the moving body will be hindered due to the actual distance between the forward-moving body and the backward-moving body becoming unnecessarily short. (2) In the above configuration, the manufacturing process information includes inter-moving body work information indicating whether or not inter-moving body work is performed in which a worker enters the area between the forward moving body and the rear moving body to perform work, and the target setting unit may use the manufacturing process information to set the target distance in the manufacturing process in which the inter-moving body work is performed to be longer than the target distance in the manufacturing process in which the inter-moving body work is not performed. In this configuration, the target distance can be set such that the target distance in the manufacturing process in which the inter-moving body work is performed is longer than the target distance in the manufacturing process in which the inter-moving body work is not performed. In this way, a work area for a worker to enter and perform work between the forward moving body and the rear moving body can be more reliably secured. This reduces the possibility of interference with inter-moving body work and ensures the safety of workers when they perform inter-moving body work. (3) In the above configuration, if the target distance is longer than the actual distance, the signal generation unit may generate the first rear control signal to cause the rear moving body to perform at least one of the following: a deceleration process that reduces the acceleration in the forward direction, and a reversing process that causes it to move backward in the opposite direction to the forward direction. According to this configuration, the actual distance between the forward moving body and the rear moving body can be increased by controlling at least one of the acceleration and direction of travel of the rear moving body. (4) In the above configuration, if the target distance is longer than the actual distance, the signal generation unit may generate the forward first control signal to cause the forward moving body to perform an acceleration process that increases the acceleration in the forward direction. According to this configuration, the actual distance between the forward moving body and the backward moving body can be increased by controlling the acceleration of the forward moving body. (5) In the above configuration, the manufacturing process includes a movement process in which the mobile body moves between a first workshop where the first manufacturing process is performed and a second workshop where the next manufacturing process performed after the first manufacturing process is performed, and the remote control device further includes a determination unit that determines whether the first manufacturing process has been completed, and when the determination unit determines that the first manufacturing process in which the inter-mobile work is performed has been completed, the target setting unit sets the target distance to a reference distance which is the distance between the forward mobile body and the backward mobile body that is shorter than the target distance when the inter-mobile work is being performed, and the signal generation unit generates at least one second control signal, which is a forward second control signal as the control signal that defines the movement of the forward mobile body and a backward second control signal as the control signal that defines the movement of the backward mobile body, in order to make the actual distance the reference distance as the target distance in the movement process, and the transmission unit may transmit the second control signal to the mobile body whose movement is to be controlled. According to this configuration, it is possible to determine whether the first manufacturing process being performed on the mobile body has been completed. Furthermore, when it is determined that a manufacturing process in which inter-moving operations are performed has ended, the target distance between the forward and backward moving bodies can be set to a reference distance that is shorter than the target distance when inter-moving operations are being performed. In this way, when it is determined that a manufacturing process in which inter-moving operations are performed has ended, the actual distance between the forward and backward moving bodies can be adjusted during the movement process so that the actual distance between them becomes the reference distance. This prevents the actual distance between the forward and backward moving bodies from becoming unnecessarily long after the completion of a manufacturing process. (6) In the above configuration, the manufacturing process includes a movement process in which the mobile body moves between a first workshop where the first manufacturing process is performed and a second workshop where the next manufacturing process is performed after the first manufacturing process, the process information acquisition unit further acquires next manufacturing process information which is information relating to the next manufacturing process, and the remote control device further includes a determination unit that determines whether the first manufacturing process has been completed, and when the determination unit determines that the first manufacturing process has been completed, the target setting unit sets the target distance to the next target distance which is the distance between the forward mobile body and the backward mobile body according to the next manufacturing process information, the signal generation unit generates at least one of a forward third control signal which defines the movement of the forward mobile body and a backward third control signal which defines the movement of the backward mobile body, in order to set the actual distance as the next target distance in the movement process, and the transmission unit may transmit the third control signal to the mobile body whose movement is to be controlled. In this configuration, it is possible to determine whether the first manufacturing process being performed on the mobile body has been completed. Furthermore, when it is determined that one manufacturing process has been completed, the target distance between the forward and backward moving bodies can be set to the next target distance according to the information for the next manufacturing process during the movement process. This allows the actual distance between the forward and backward moving bodies to be adjusted to the next target distance during the movement process when it is determined that one manufacturing process has been completed. Therefore, the actual distance between the forward and backward moving bodies can be adjusted in advance to a distance between the moving bodies that is suitable for the work content of the next manufacturing process, before the next manufacturing process begins. (7) In the above configuration, the inter-mobile operation is an assembly operation in which a communication device capable of communicating with the remote control device is attached to the mobile body, and the determination unit may determine that the first manufacturing process in which the inter-mobile operation is performed is completed when the remote control device can communicate with the communication device, and determine that the first manufacturing process in which the inter-mobile operation is performed is not completed when the remote control device cannot communicate with the communication device. According to this configuration, it is possible to determine whether or not the first manufacturing process is completed using whether or not communication is possible between the remote control device and the communication device. (8) A second embodiment of the present disclosure provides a mobile body. The mobile body is capable of moving unmanned within a factory where a plurality of manufacturing processes are carried out in a manufacturing process for manufacturing the mobile body, and the mobile body includes a mobile body control device for controlling the movement of the mobile body, and the mobile body control device includes an operation control unit that controls the movement of the mobile body using a control signal received from outside the mobile body, which defines the movement of the mobile body in order to make the actual distance between the forward mobile body and the rear mobile body moving behind the forward mobile body a target distance according to the manufacturing process. In this embodiment, the movement of the mobile body can be controlled using a control signal to make the actual distance between the forward mobile body and the rear mobile body a target distance according to the manufacturing process. This makes it possible to adjust the actual distance between the forward mobile body and the rear mobile body so that the actual distance between them becomes the target distance according to the manufacturing process. (9) A third embodiment of the present disclosure provides a remote control method. The remote control method remotely controls the operation of a plurality of mobile bodies that are movable by unmanned operation, wherein a plurality of manufacturing processes are performed on a plurality of the mobile bodies in a manufacturing process in a factory, and the plurality of mobile bodies include a forward mobile body and a rear mobile body that travels behind the forward mobile body, and the remote control method comprises: a process information acquisition step of acquiring manufacturing process information, which is information relating to one of the manufacturing processes being performed on the mobile bodies, for at least one of the forward mobile body and the rear mobile body; a target setting step of setting a target distance between the forward mobile body and the rear mobile body according to the manufacturing process information; a signal generation step of generating at least one first control signal, which is a forward first control signal as a control signal that defines the operation of the forward mobile body and a rear first control signal as a control signal that defines the operation of the rear mobile body, in order to make the actual distance between the forward mobile body and the rear mobile body the target distance; and a transmission step of transmitting the first control signal to the mobile body whose operation is to be controlled. This configuration allows for setting a target distance between the forward and backward moving bodies according to manufacturing process information for a single manufacturing process. This enables the adjustment of the actual distance between the forward and backward moving bodies so that it matches the distance specified in the manufacturing process information. In this way, the actual distance between the forward and backward moving bodies can be adjusted to a distance suitable for the work content of a single manufacturing process. Therefore, it is possible to prevent the actual distance between the forward and backward moving bodies from becoming unnecessarily long compared to the target distance. This reduces the possibility that the time required for manufacturing the moving bodies will increase due to an unnecessarily long actual distance between them. Furthermore, it is possible to prevent the actual distance between the forward and backward moving bodies from becoming unnecessarily short compared to the target distance. This reduces the possibility that the work when manufacturing the moving bodies will be hindered due to an unnecessarily short actual distance between them. (10) According to a fourth embodiment of the present disclosure, a control system is provided. The control system controls the operation of a plurality of mobile bodies that can be moved by unmanned operation, wherein a plurality of manufacturing processes are performed on the plurality of mobile bodies in the manufacturing process in a factory, and the control system comprises a plurality of mobile bodies including a forward mobile body and a rear mobile body that travels behind the forward mobile body, a process information acquisition unit that acquires manufacturing process information, which is information relating to one of the manufacturing processes being performed on the mobile bodies, for at least one of the forward mobile body and the rear mobile body, a target setting unit that sets a target distance between the forward mobile body and the rear mobile body according to the manufacturing process information, a signal generation unit that generates at least one of a first control signal, a forward first control signal as a control signal that defines the operation of the forward mobile body and a rear first control signal as a control signal that defines the operation of the rear mobile body, in order to make the actual distance between the forward mobile body and the rear mobile body the target distance, and an operation control unit that controls the operation of the mobile bodies using the first control signals. According to this embodiment, a target distance between the forward mobile body and the rear mobile body can be set according to manufacturing process information relating to one manufacturing process. This allows the actual distance between the forward and backward moving parts to be adjusted so that the actual distance between them becomes the target distance according to the manufacturing process information. In this way, the actual distance between the forward and backward moving parts can be adjusted to a distance between moving parts that is suitable for the work content of a single manufacturing process. Therefore, it is possible to prevent the actual distance between the forward and backward moving parts from becoming unnecessarily long compared to the target distance. This reduces the possibility that the time required to manufacture the moving parts will increase due to the actual distance between the forward and backward moving parts becoming unnecessarily long. Also, it is possible to prevent the actual distance between the forward and backward moving parts from becoming unnecessarily short compared to the target distance. This reduces the possibility that the work when manufacturing the moving parts will be hindered due to the actual distance between the forward and backward moving parts becoming unnecessarily short. (11) In the above configuration, the manufacturing process information includes inter-moving body work information indicating whether or not inter-moving body work is performed in which a worker enters the area between the forward moving body and the rear moving body to perform work, and the target setting unit may use the manufacturing process information to set the target distance in the manufacturing process in which the inter-moving body work is performed to be longer than the target distance in the manufacturing process in which the inter-moving body work is not performed. In this configuration, the target distance can be set such that the target distance in the manufacturing process in which the inter-moving body work is performed is longer than the target distance in the manufacturing process in which the inter-moving body work is not performed. In this way, a work area for a worker to enter and perform work between the forward moving body and the rear moving body can be more reliably secured. This reduces the possibility of interference with inter-moving body work and ensures the safety of workers when performing inter-moving body work. (12) In the above configuration, if the target distance is longer than the actual distance, the signal generation unit may generate the first rear control signal to cause the rear moving body to perform at least one of the following: a deceleration process that reduces the acceleration in the forward direction, and a reversing process that causes it to move backward in the opposite direction to the forward direction. According to this configuration, the actual distance between the forward moving body and the rear moving body can be increased by controlling at least one of the acceleration and direction of travel of the rear moving body. (13) In the above configuration, if the target distance is longer than the actual distance, the signal generation unit may generate the forward first control signal to cause the forward moving body to perform an acceleration process that increases the acceleration in the forward direction. According to this configuration, the actual distance between the forward moving body and the backward moving body can be increased by controlling the acceleration of the forward moving body. (14) In the above configuration, the manufacturing process includes a movement process in which the moving body moves between a first workshop where the first manufacturing process is performed and a second workshop where a subsequent manufacturing process is performed after the first manufacturing process, and the control system further includes a determination unit that determines whether the first manufacturing process has been completed, and when the determination unit determines that the first manufacturing process in which the inter-moving body work is performed has been completed, the target setting unit sets the target distance to a reference distance which is the distance between the forward moving body and the backward moving body that is shorter than the target distance when the inter-moving body work is being performed, and the signal generation unit generates at least one second control signal, a forward second control signal as the control signal that defines the movement of the forward moving body, and a backward second control signal as the control signal that defines the movement of the backward moving body, in order to make the actual distance the reference distance as the target distance in the movement process, and the operation control unit may control the movement of the moving body using the second control signal without using the first control signal in the movement process. According to this configuration, it is possible to determine whether the first manufacturing process being performed on the moving body has been completed. Furthermore, when it is determined that a manufacturing process in which inter-moving operations are performed has ended, the target distance between the forward and backward moving bodies can be set to a reference distance that is shorter than the target distance when inter-moving operations are being performed. In this way, when it is determined that a manufacturing process in which inter-moving operations are performed has ended, the actual distance between the forward and backward moving bodies can be adjusted during the movement process so that the actual distance between them becomes the reference distance. This prevents the actual distance between the forward and backward moving bodies from becoming unnecessarily long after the completion of a manufacturing process. (15) In the above configuration, the manufacturing process has a movement process in which the moving body moves between a first workshop where the first manufacturing process is performed and a second workshop where a subsequent manufacturing process is performed after the first manufacturing process, the process information acquisition unit further acquires subsequent manufacturing process information which is information relating to the subsequent manufacturing process, and the control system further includes a determination unit that determines whether the first manufacturing process has been completed, and when the determination unit determines that the first manufacturing process has been completed, the target setting unit sets the target distance to the next target distance which is the distance between the forward moving body and the backward moving body according to the next manufacturing process information, the signal generation unit generates at least one of a forward third control signal which defines the movement of the forward moving body and a backward third control signal which defines the movement of the backward moving body, in order to set the actual distance to the next target distance which is the target distance in the movement process, and the movement control unit may control the movement of the moving body using the third control signal without using the first control signal in the movement process. This configuration allows for the determination of whether a manufacturing process being performed on a moving object has been completed. If it is determined that a manufacturing process has been completed, the target distance between the forward and backward moving objects can be set to the next target distance according to the information for the next manufacturing process during the movement process. This allows the actual distance between the forward and backward moving objects to be adjusted to the next target distance during the movement process when it is determined that a manufacturing process has been completed. Therefore, the actual distance between the forward and backward moving objects can be adjusted in advance to a distance between the moving objects that is suitable for the work content of the next manufacturing process, before the next manufacturing process begins. (16) In the above configuration, the inter-mobile operation is an assembly operation in which a communication device capable of communicating with the outside of the mobile body is attached to the mobile body, and the determination unit may determine that the first manufacturing process in which the inter-mobile operation is performed is completed when the communication device can communicate with the outside of the mobile body, and determine that the first manufacturing process in which the inter-mobile operation is performed is not completed when the communication device cannot communicate with the outside of the mobile body. According to this configuration, it is possible to determine whether or not the first manufacturing process is completed using whether or not communication is possible between the outside of the mobile body and the communication device. (17) A fifth embodiment of the present disclosure provides a mobile body. The mobile body is capable of moving unmanned within a factory in which a plurality of manufacturing processes are performed in the manufacturing process for manufacturing the mobile body, and the mobile body includes a mobile body control device that controls the movement of the mobile body itself, the mobile body control device includes a process information acquisition unit that acquires manufacturing process information which is information relating to one of the mobile body, which is the mobile body and another mobile body which is another mobile body that moves in at least one of the mobile body, which is the mobile body and which moves in at least one of the front and rear of the mobile body, a target setting unit that sets a target distance between the mobile body and the other mobile body according to the manufacturing process information, a signal generation unit that generates a first control signal as a control signal that defines the movement of the mobile body in order to make the actual distance between the mobile body and the other mobile body the target distance, and an operation control unit that controls the movement of the mobile body using the first control signal. According to this embodiment, a target distance between the mobile body and the other mobile body can be set according to manufacturing process information relating to one manufacturing process. This allows the actual distance between a mobile object and another mobile object to be adjusted so that the actual distance between them becomes the target distance according to the manufacturing process information. In this way, the actual distance between a mobile object and another mobile object can be adjusted to a distance between mobile objects that is suitable for the work content of a single manufacturing process. Therefore, it is possible to prevent the actual distance between a mobile object and another mobile object from becoming unnecessarily long compared to the target distance. This reduces the possibility that the time required to manufacture the mobile object will increase due to the actual distance between the mobile object and another mobile object becoming unnecessarily long. Also, it is possible to prevent the actual distance between a mobile object and another mobile object from becoming unnecessarily short compared to the target distance. This reduces the possibility that the work when manufacturing the mobile object will be hindered due to the actual distance between the mobile object and another mobile object becoming unnecessarily short. (18) In the above configuration, the manufacturing process information includes inter-mobile body work information indicating whether or not inter-mobile body work is performed in which a worker enters the area between the self-mobile body and the other mobile body to perform work, and the target setting unit may use the manufacturing process information to set the target distance in the manufacturing process in which the inter-mobile body work is performed to be longer than the target distance in the manufacturing process in which the inter-mobile body work is not performed. In this configuration, the target distance can be set such that the target distance in the manufacturing process in which the inter-mobile body work is performed is longer than the target distance in the manufacturing process in which the inter-mobile body work is not performed. In this way, a work area for a worker to enter and perform work between the self-mobile body and the other mobile body can be more reliably secured. This reduces the possibility of interference with inter-mobile body work and ensures the safety of workers when performing inter-mobile body work. (19) In the above configuration, if the target distance is longer than the actual distance, and the self-moving body is moving behind the other moving body, the signal generation unit may generate the first control signal to cause the self-moving body to perform at least one of a deceleration process that reduces the acceleration in the forward direction and a reversing process that causes it to move backward in the opposite direction to the forward direction. According to this configuration, the actual distance between the self-moving body and the other moving body can be increased by controlling at least one of the acceleration and direction of travel of the self-moving body. (20) In the above configuration, if the target distance is longer than the actual distance, and the self-moving body is moving in front of the other moving body, the signal generation unit may generate the first control signal to cause the self-moving body to perform an acceleration process that increases the acceleration in the forward direction. According to this configuration, the actual distance between the self-moving body and the other moving body can be increased by controlling the acceleration of the self-moving body. (21) In the above configuration, the manufacturing process includes a movement process in which the mobile body moves between a first workshop where the first manufacturing process is performed and a second workshop where a subsequent manufacturing process is performed after the first manufacturing process, and the mobile body control device further includes a determination unit that determines whether the first manufacturing process has been completed, and when the determination unit determines that the first manufacturing process in which the inter-mobile body work is performed has been completed, the target setting unit sets the target distance to a reference distance which is the distance between the mobile body and the other mobile body that is shorter than the target distance when the inter-mobile body work is being performed, the signal generation unit generates a second control signal as the control signal that defines the operation of the mobile body in order to make the actual distance the reference distance as the target distance in the movement process, and the operation control unit may control the operation of the mobile body using the second control signal without using the first control signal in the movement process. According to this configuration, it is possible to determine whether the first manufacturing process being performed on the mobile body has been completed. Furthermore, when it is determined that a manufacturing process in which inter-unit work is performed has ended, the target distance between the unit and the other unit can be set to a reference distance that is shorter than the target distance when inter-unit work is being performed. In this way, when it is determined that a manufacturing process in which inter-unit work is performed has ended, the actual distance between the unit and the other unit can be adjusted during the movement process so that the actual distance between them becomes the reference distance. This prevents the actual distance between the unit and the other unit from becoming unnecessarily long after the completion of a manufacturing process. (22) In the above configuration, the manufacturing process includes a movement process in which the mobile body moves between a first workshop where the first manufacturing process is performed and a second workshop where the next manufacturing process performed after the first manufacturing process is performed, the process information acquisition unit further acquires next manufacturing process information which is information relating to the next manufacturing process, and the mobile body control device further includes a determination unit that determines whether the first manufacturing process has been completed, and when the determination unit determines that the first manufacturing process has been completed, the target setting unit sets the target distance to the next target distance which is the distance between the mobile body and the other mobile body according to the next manufacturing process information, the signal generation unit generates a third control signal that defines the operation of the mobile body in order to set the actual distance to the next target distance as the target distance in the movement process, and the operation control unit may control the operation of the mobile body using the third control signal without using the first control signal in the movement process. According to this configuration, it is possible to determine whether the first manufacturing process being performed on the mobile body has been completed. Furthermore, when it is determined that one manufacturing process has been completed, the target distance between the moving object and the other moving object can be set to the next target distance according to the information for the next manufacturing process during the movement process. This allows the actual distance between the moving object and the other moving object to be adjusted to the next target distance during the movement process when it is determined that one manufacturing process has been completed. Therefore, the actual distance between the moving object and the other moving object can be adjusted in advance to a distance between moving objects that is suitable for the work content of the next manufacturing process, before the next manufacturing process begins. (23) In the above configuration, the inter-mobile operation is an assembly operation in which a communication device capable of communicating with the outside of the mobile body is attached to the mobile body, and the determination unit may determine that the first manufacturing process in which the inter-mobile operation is performed is completed when the communication device can communicate with the outside of the mobile body, and determine that the first manufacturing process in which the inter-mobile operation is performed is not completed when the communication device cannot communicate with the outside of the mobile body. According to this configuration, it is possible to determine whether or not the first manufacturing process is completed using whether or not communication is possible between the outside of the mobile body and the communication device. (24) According to a sixth embodiment of the present disclosure, a motion control method is provided. The motion control method controls the motion of a plurality of mobile bodies that can be moved by unmanned operation, wherein a plurality of manufacturing processes are performed on the plurality of mobile bodies in the manufacturing process in a factory, and the plurality of mobile bodies include a forward mobile body and a rear mobile body that travels behind the forward mobile body, and the motion control method comprises: a process information acquisition step of acquiring manufacturing process information, which is information relating to one of the manufacturing processes being performed on the mobile bodies, for at least one of the forward mobile body and the rear mobile body; a target setting step of setting a target distance between the forward mobile body and the rear mobile body according to the manufacturing process information; a signal generation step of generating at least one first control signal, which is a forward first control signal as a control signal that defines the motion of the forward mobile body and a rear first control signal as a control signal that defines the motion of the rear mobile body, in order to make the actual distance between the forward mobile body and the rear mobile body the target distance; and a motion control step of controlling the motion of the mobile bodies using the first control signals. This configuration allows for setting a target distance between a forward-moving body and a backward-moving body according to manufacturing process information for a single manufacturing process. This allows for adjusting the actual distance between the forward-moving body and the backward-moving body so that the actual distance between them becomes the target distance according to the manufacturing process information. In this way, the actual distance between the forward-moving body and the backward-moving body can be adjusted to a distance between the moving bodies that is appropriate for the work content of a single manufacturing process. Therefore, it is possible to prevent the actual distance between the forward-moving body and the backward-moving body from becoming unnecessarily long compared to the target distance. This reduces the possibility that the time required to manufacture the moving body will increase due to the actual distance between the forward-moving body and the backward-moving body becoming unnecessarily long. Furthermore, it is possible to prevent the actual distance between the forward-moving body and the backward-moving body from becoming unnecessarily short compared to the target distance. This reduces the possibility that the work when manufacturing the moving body will be hindered due to the actual distance between the forward-moving body and the backward-moving body becoming unnecessarily short. The present disclosure can be implemented in various forms other than the above-described remote control device, control system, moving object, remote control method, and operation control method. For example, the present disclosure can be implemented in the form of a method for manufacturing a remote control device, a control system, and a moving object, a computer program for implementing the remote control method and the operation control method, a non-transitory recording medium storing the computer program, and the like. BRIEF DESCRIPTION OF THE DRAWINGS
[0007] [Figure 1] FIG. 1 is a diagram illustrating a schematic configuration of a control system according to a first embodiment. [Figure 2] FIG. 2 is a diagram illustrating a schematic configuration of a vehicle according to the first embodiment. [Figure 3] FIG. 3 is a diagram illustrating a schematic configuration of a remote control device according to the first embodiment. [Figure 4] FIG. 4 is a flowchart illustrating a processing procedure of travel control of a vehicle according to the first embodiment. [Figure 5] FIG. 5 is a first flowchart illustrating a first adjustment method. [Figure 6] FIG. 6 is a second flowchart illustrating the first adjustment method. [Figure 7] FIG. 7 is a first flowchart illustrating a second adjustment method. [Figure 8] FIG. 8 is a second flowchart illustrating the second adjustment method. [Figure 9] FIG. 9 is a diagram illustrating a schematic configuration of a control system according to a second embodiment. [Figure 10] FIG. 10 is a diagram illustrating a schematic configuration of a remote control device according to the second embodiment. [Figure 11] FIG. 11 is a first flowchart illustrating a third adjustment method. [Figure 12] FIG. 12 is a second flowchart illustrating the third adjustment method. [Figure 13] FIG. 13 is a diagram illustrating a schematic configuration of a control system according to a third embodiment. [Figure 14] FIG. 14 is a diagram illustrating a schematic configuration of a vehicle control device according to the third embodiment. [Figure 15] FIG. 15 is a flowchart illustrating a processing procedure of travel control of a vehicle according to the third embodiment. DESCRIPTION OF EMBODIMENTS
[0008] A. First Embodiment: A-1. Configuration of Control System: FIG. 1 is a diagram illustrating a schematic configuration of a control system 1 according to the first embodiment. The control system 1 includes one or more external sensors, a plurality of moving objects, and a remote control device 5.
[0009] The external sensor is a sensor positioned outside the vehicle 10. The external sensor is a sensor that captures the vehicle 10 from outside the vehicle 10. The external sensor includes a communication device (not shown) and can communicate with other devices such as the remote control device 5 via wired communication or wireless communication.
[0010] In the present embodiment, the external sensor is configured by a camera. The camera 9 serving as the external sensor (hereinafter referred to as the external camera 9) acquires a captured image including the vehicle 10, and outputs the captured image as a detection result. Hereinafter, the captured image output from the external camera 9 is also referred to as an "external camera image". The external camera 9 transmits the external camera image together with camera identification information to the remote control device 5. The camera identification information is a unique ID (identifier) assigned to each external camera 9 so as not to overlap between the external cameras 9 in order to identify a plurality of external cameras 9.
[0011] The installation position and the number of installed external cameras 9 are determined in consideration of the imaging range RG (angle of view) of the external cameras 9 and the like, so that the entire travel path R can be imaged by the external cameras 9. Specifically, each external camera 9 is installed such that a first imaging range RG1, which is the imaging range RG of the adjacent first external camera 901, overlaps with a second imaging range RG2, which is the imaging range RG of the adjacent second external camera 902.
[0012] In this disclosure, “mobile object” means an object that can move, such as a vehicle 10 or an electric vertical take-off and landing aircraft (a so-called flying car). In this embodiment, the mobile object is a vehicle 10. The vehicle 10 may be a wheeled vehicle 10 or a tracked vehicle 10, such as a passenger car, truck, bus, motorcycle, car, tank, or construction vehicle. The vehicle 10 includes electric vehicles (BEVs: Battery Electric Vehicles), gasoline vehicles, hybrid vehicles, and fuel cell vehicles. If the mobile object is not a vehicle, the terms “vehicle” and “car” in this disclosure may be replaced with “mobile object” as appropriate, and the term “driving” may be replaced with “moving” as appropriate.
[0013] Vehicle 10 is configured to operate autonomously. "Autonomous operation" means operation without the operation of a passenger. Operation refers to operations related to at least one of the following: "going," "turning," or "stopping" of vehicle 10. Autonomous operation is achieved by automatic or manual remote control using a device located outside vehicle 10, or by autonomous control of vehicle 10. A passenger who does not perform operation may be on board vehicle 10 while it is operating autonomously. A passenger who does not perform operation includes, for example, a person simply sitting in the seat of vehicle 10, or a person performing tasks other than operation, such as assembly, inspection, or operating switches, while on board vehicle 10. Operation by a passenger is sometimes called "manned operation."
[0014] In this specification, "remote control" includes "fully remote control," in which all operations of the vehicle 10 are completely determined from outside the vehicle 10, and "partial remote control," in which some operations of the vehicle 10 are determined from outside the vehicle 10. Furthermore, "autonomous control" includes "fully autonomous control," in which the vehicle 10 autonomously controls its own operations without receiving any information from external devices, and "partial autonomous control," in which the vehicle 10 autonomously controls its own operations using information received from external devices.
[0015] In this embodiment, vehicle 10 travels remotely within a factory where multiple manufacturing processes are carried out during the vehicle's production. The factory's reference coordinate system is a global coordinate system. That is, any location within the factory is represented by X, Y, and Z coordinates in the global coordinate system. The factory is not limited to being located in a single building or on a single site or address, but may be located across multiple buildings, sites, addresses, etc. For example, when vehicle 10 moves between manufacturing locations where each manufacturing process is carried out, it may travel on public roads as well as private roads.
[0016] Figure 2 is a diagram showing the schematic configuration of the vehicle 10 in the first embodiment. Figure 2 shows a representative part of the configuration of the vehicle 10. The vehicle 10 comprises a vehicle control device 2 that controls the operation of the vehicle 10, one or more actuator groups 29 that are driven under the control of the vehicle control device 2, and a vehicle communication device 21 for communicating with external devices such as a remote control device 5. The vehicle communication device 21 is, for example, a wireless communication device. The actuator group 29 includes actuators for a drive system to accelerate the vehicle 10, actuators for a steering system to change the direction of travel of the vehicle 10, and actuators for a braking system to decelerate the vehicle 10.
[0017] Vehicle 10 further includes a first-type sensor group 26 having a first-type sensor 260 as an internal sensor, and a second-type sensor group 27 having a second-type sensor 270 as an internal sensor. The internal sensors are on-board sensors mounted on vehicle 10.
[0018] The first type sensor group 26 comprises multiple types of first type sensors 260. The first type sensors 260 are internal sensors that acquire ambient information indicating the state of the area surrounding the vehicle 10. The first type sensors 260 transmit the acquired data to the vehicle control device 2. In this embodiment, the first type sensor group 26 includes an on-board camera 261, an on-board radar 262, and an on-board lidar 263 as first type sensors 260.
[0019] The in-vehicle camera 261 captures an area that includes at least a portion of the surrounding area of the vehicle 10, and outputs the captured image as a detection result. Hereinafter, the captured image output from the in-vehicle camera 261 will also be referred to as the "in-vehicle camera image". The in-vehicle camera image may be still image data or video data. Furthermore, the in-vehicle camera image may be color data or monochrome data.
[0020] The vehicle-mounted radar 262 emits a search wave (radio wave) within a predetermined search range and receives the reflected wave reflected by objects in the area surrounding the vehicle 10, thereby detecting the distance, angle, and relative velocity of objects in the area surrounding the vehicle 10.
[0021] The in-vehicle lidar 263 detects the distance, angle, and shape of objects in the area surrounding the vehicle 10 by irradiating a laser beam into a predetermined measurement range and detecting the reflected light from objects in the area surrounding the vehicle 10. The configuration of the first type sensor group 26 is not limited to this.
[0022] The second type sensor group 27 comprises multiple types of second type sensors 270. The second type sensors 270 are sensors that acquire various physical quantities necessary for controlling the driving operation of the vehicle 10. The second type sensors 270 transmit the acquired data to the vehicle control device 2. In this embodiment, the second type sensor group 27 comprises a wheel speed sensor 271 and a steering angle sensor 272 as second type sensors 270. The wheel speed sensor 271 measures the rotational speed of each wheel (hereinafter referred to as wheel speed). The steering angle sensor 272 measures the actual steering angle of each wheel. Note that the configuration of the second type sensor group 27 is not limited to this.
[0023] The vehicle control device 2 comprises a vehicle storage unit 23 as the storage unit of the vehicle control device 2, a vehicle CPU 22 as the central processing unit of the vehicle control device 2, and an input / output interface 24. The vehicle storage unit 23, the vehicle CPU 22, and the input / output interface 24 are connected via an internal bus 25 to enable bidirectional communication. A vehicle communication device 21 and an actuator group 29 are connected to the input / output interface 24.
[0024] The vehicle storage unit 23 stores various information, including various programs PG2 that control the driving operation of the vehicle 10. The vehicle storage unit 23 includes, for example, RAM, ROM, and a hard disk drive (HDD).
[0025] The vehicle CPU 22 functions as a state acquisition unit 221, a vehicle transmission unit 222, and an operation control unit 223 by deploying various programs PG2 stored in the vehicle memory unit 23.
[0026] The status acquisition unit 221 acquires information obtained by the first type sensor 260 and the second type sensor 270 (hereinafter referred to as in-vehicle sensor information).
[0027] The vehicle transmission unit 222 transmits various information to the remote control device 5. For example, the vehicle transmission unit 222 transmits on-board sensor information along with vehicle identification information to the remote control device 5. The vehicle identification information is a unique ID (identifier) assigned to each vehicle 10 so as not to overlap among multiple vehicles 10 in order to identify them. The vehicle transmission unit 222 may also transmit various information to the external camera 9.
[0028] The motion control unit 223 drives the vehicle 10 by controlling the actuator group 29. The motion control unit 223 can drive the vehicle 10 by controlling the actuator group 29 using the driving control signal received from the remote control device 5. The driving control signal is a control signal for driving the vehicle 10. In this embodiment, the driving control signal includes the acceleration and steering angle of the vehicle 10 as parameters. In other embodiments, the driving control signal may include the speed of the vehicle 10 as a parameter instead of, or in addition to, the acceleration of the vehicle 10. At least some of the functions of the vehicle CPU 22 may be implemented as a function of the remote control device 5 or the external camera 9.
[0029] Figure 3 is a diagram showing the schematic configuration of the remote control device 5 in the first embodiment. The remote control device 5 is, for example, a server installed in a factory. The remote control device 5 adjusts the actual distance (hereinafter referred to as actual distance Da) between the front vehicle 101 and the rear vehicle 102 by remotely controlling the driving operation of at least one of the front vehicle 101 and the rear vehicle 102, which are vehicles 10. The rear vehicle 102 is a vehicle 10 that travels behind the front vehicle 101 in the forward direction when the front vehicle 101 is traveling. The rear vehicle 102 travels continuously between the front vehicle 101 and the rear vehicle 101 without any other vehicles 10 in between. Hereafter, when it is not necessary to distinguish between each vehicle 101 and 102, they will simply be referred to as "vehicle 10".
[0030] The remote control device 5 comprises a remote communication unit 51 as the communication unit of the remote control device 5, a remote storage unit 53 as the storage unit of the remote control device 5, and a remote CPU 52 as the central processing unit of the remote control device 5. The remote communication unit 51, the remote storage unit 53, and the remote CPU 52 are connected via an internal bus 55 to enable bidirectional communication.
[0031] The remote communication unit 51 connects the vehicle control device 2 and the external camera 9 to the remote control device 5 in a way that enables communication. The remote communication unit 51 is, for example, a wireless communication device. However, the communication method by the remote communication unit 51 is not limited to this.
[0032] The remote storage unit 53 stores various information, including various programs PG5 that control the operation of the remote control device 5, a vehicle detection model DM1, an object detection model DM2, a target distance database DB, and a reference route RR. Details of the vehicle detection model DM1, object detection model DM2, target distance database DB, and reference route RR will be described later. The remote storage unit 53 includes, for example, RAM, ROM, a hard disk drive (HDD), etc.
[0033] The remote CPU 52 functions as a position acquisition unit 520, a speed calculation unit 521, an actual distance calculation unit 522, a process identification unit 523, a process information acquisition unit 524, and a target setting unit 525 by deploying various programs PG5 stored in the remote storage unit 53. Furthermore, the remote CPU 52 functions as a decision information acquisition unit 526, a decision unit 527, a signal generation unit 528, and a remote transmission unit 529 by deploying various programs PG5 stored in the remote storage unit 53.
[0034] The position acquisition unit 520 acquires vehicle position information using detection results output from external sensors. Vehicle position information is the basis for generating driving control signals. In this embodiment, the vehicle position information includes the position and orientation of the vehicle 10 in the factory's global coordinate system. Specifically, the position acquisition unit 520 acquires vehicle position information using external camera images acquired from an external sensor, the external camera 9.
[0035] In detail, the position acquisition unit 520 acquires the position of the vehicle 10 by, for example, detecting the outline of the vehicle 10 from an external camera image, calculating the coordinates of the positioning point of the vehicle 10 in the coordinate system of the external camera image, i.e., the local coordinate system, and converting the calculated coordinates to coordinates in the global coordinate system. The outline of the vehicle 10 included in the external camera image can be detected, for example, by inputting the external camera image into a vehicle detection model DM1 that utilizes artificial intelligence. The vehicle detection model DM1 is prepared, for example, within or outside the control system 1 and stored in advance in the remote storage unit 53. Examples of the vehicle detection model DM1 include a trained machine learning model that has been trained to realize either semantic segmentation or instance segmentation. As this machine learning model, for example, a convolutional neural network (hereinafter referred to as CNN) trained by supervised learning using a training dataset can be used. The training dataset has, for example, multiple training images including the vehicle 10 and labels indicating whether each region in the training image is a region indicating the vehicle 10 or a region indicating something other than the vehicle 10. During CNN training, it is preferable that the CNN parameters be updated using backpropagation to reduce the error between the output result from the vehicle detection model DM1 and the label. Furthermore, the position acquisition unit 520 can acquire the orientation of the vehicle 10 by, for example, using the optical flow method, estimating the orientation of the vehicle 10 based on the direction of the vehicle's movement vector calculated from the positional changes of the vehicle 10's feature points between frames of the external camera image.
[0036] The speed calculation unit 521 calculates the travel speed of the vehicle 10. For example, the speed calculation unit 521 calculates the travel speed of the vehicle 10 using the output value of the wheel speed sensor 271 mounted on the vehicle 10. In this case, the speed calculation unit 521 calculates the travel speed of the vehicle 10 based on the wheel speed per unit time after performing calculation processing such as averaging the wheel speed of each wheel. However, the method of calculating the travel speed of the vehicle 10 is not limited to this. In addition, at least a part of the functions of the speed calculation unit 521 may be performed by the wheel speed sensor 271 or the vehicle CPU 22.
[0037] The actual distance calculation unit 522 calculates the actual distance Da between the front vehicle 101 and the rear vehicle 102. The actual distance calculation unit 522 calculates the actual distance Da between the front vehicle 101 and the rear vehicle 102 by performing calculations using, for example, vehicle position information, the driving speed of vehicle 10, and the elapsed time since the timing of acquiring the vehicle position information, etc. However, the method for calculating the actual distance Da between the front vehicle 101 and the rear vehicle 102 is not limited to this. The actual distance calculation unit 522 may, for example, calculate the actual distance Da between the front vehicle 101 and the rear vehicle 102 using detection results output from an internal sensor. Alternatively, the actual distance calculation unit 522 may calculate the actual distance Da between the front vehicle 101 and the rear vehicle 102 using an external camera image.
[0038] The process identification unit 523 identifies one manufacturing process from among multiple manufacturing processes in the manufacturing process of the vehicle 10 that is being performed on the vehicle 10 that is the target of remote control. The process identification unit 523 identifies the manufacturing process being performed on the vehicle 10 that is the target of remote control by, for example, detecting feature points that can identify multiple manufacturing processes included in the in-vehicle camera image through image analysis. Specifically, for example, if there is an object (hereinafter referred to as a feature object) that is installed only in the workshop where a particular manufacturing process is performed, the process identification unit 523 detects the feature object included in the in-vehicle camera image as a feature point. In other words, in this case, the feature point is the shape of the feature object. Also, for example, if the color of the wall surface of the workshop located indoors differs for each manufacturing process, the process identification unit 523 detects the color of the wall surface included in the in-vehicle camera image as a feature point. Also, for example, if an object with a sign such as letters, symbols, or figures that identify multiple manufacturing processes is placed in the workshop, the process identification unit 523 detects the sign included in the internally captured image as a feature point. Note that the method for identifying a particular manufacturing process being performed on the vehicle 10 is not limited to this. The process identification unit 523 may use an external camera image to identify a manufacturing process being performed on the vehicle 10.
[0039] The process information acquisition unit 524 acquires information (hereinafter referred to as "manufacturing process information") regarding a single manufacturing process being executed on at least one of the front vehicle 101 and the rear vehicle 102. In other words, the process information acquisition unit 524 acquires manufacturing process information for a single manufacturing process identified by the process identification unit 523. Manufacturing process information is information that links manufacturing process identification information and work information. Manufacturing process identification information is a unique ID (identifier) assigned to each manufacturing process so as not to overlap between manufacturing processes in order to identify multiple manufacturing processes included in the manufacturing process of the vehicle 10. Work information is information that indicates the work content of the manufacturing process identified by the manufacturing process identification information. In other words, manufacturing process information is information that indicates which of the multiple manufacturing processes in the manufacturing process is executed and the work content that is executed. Therefore, the number of manufacturing process information entries is the same as the number of manufacturing processes in the manufacturing process.
[0040] In this embodiment, the work information includes inter-vehicle work information. Inter-vehicle work information indicates whether or not work (hereinafter referred to as inter-vehicle work) is performed by a worker entering the area between the front vehicle 101 and the rear vehicle 102. Inter-vehicle work is, for example, assembly work in which parts such as lamps (not shown) and stickers (not shown) or on-board devices such as batteries (not shown) are installed on the rear side of the front vehicle 101 or the front side of the rear vehicle 102. Inter-vehicle work is also, for example, functional inspection work in which the function of parts such as a trunk door or hatchback attached to the rear side of the front vehicle 101 or a hood attached to the front side of the rear vehicle 102 is inspected. Furthermore, inter-vehicle work is also, for example, visual inspection work in which the appearance of the vehicle 10 is inspected for defects such as peeling paint applied to the rear side of the front vehicle 101 or the front side of the rear vehicle 102. Note that the types of information included in the manufacturing process information and the types of inter-vehicle work are not limited to these.
[0041] The target setting unit 525 sets the target distance Dg between the front vehicle 101 and the rear vehicle 102 according to the manufacturing process. Specifically, the target setting unit 525 sets the target distance Dg between the front vehicle 101 and the rear vehicle 102 according to the work content indicated by the work information linked to the manufacturing process identification information that indicates a single manufacturing process being executed on the front vehicle 101 or the rear vehicle 102. If a single manufacturing process is being executed, the target setting unit 525 sets the target distance Dg according to the work content of that single manufacturing process. Specifically, the target setting unit 525 sets the target distance Dg using, for example, the target distance database DB pre-stored in the remote storage unit 53 and the manufacturing process information acquired by the process information acquisition unit 524. The target distance database DB is a database that links the manufacturing process identification information with the target distance Dg according to the work content of the manufacturing process identified by the manufacturing process identification information. At this time, the target setting unit 525 uses the manufacturing process information to set the target distance Dg in the manufacturing process in which inter-vehicle work is performed to be longer than the target distance Dg in the manufacturing process in which inter-vehicle work is not performed. The target distance Dg in the manufacturing process in which inter-vehicle work is performed is set, for example, according to the number of workers engaged in inter-vehicle work and the range of the work area required for inter-vehicle work. In the manufacturing process in which inter-vehicle work is performed, if one worker enters the area between the front vehicle 101 and the rear vehicle 102 to perform work, the target distance Dg is set to a value of, for example, 1 meter or more and 2 meters or less.
[0042] Furthermore, the target setting unit 525 executes the following process when the determination unit 527 determines that a manufacturing process being performed on the vehicle 10 in which inter-vehicle work is performed has been completed. In this case, the target setting unit 525 sets the target distance Dg between the front vehicle 101 and the rear vehicle 102 as the reference distance Ds. The reference distance Ds is the distance between the front vehicle 101 and the rear vehicle 102 that is shorter than the target distance Dg when inter-vehicle work is being performed. The reference distance Ds may be the same as the target distance Dg in any of the manufacturing processes in which inter-vehicle work is not performed among the multiple manufacturing processes in the manufacturing process. For example, if the manufacturing process has a movement process and certain conditions are met, the target setting unit 525 sets the target distance Dg between the front vehicle 101 and the rear vehicle 102 as the reference distance Ds. The movement process is a process in the manufacturing process in which the vehicle 10 travels between a first workshop and a second workshop. The first workshop is a place where a manufacturing process performed on the vehicle 10 is executed, as identified by the process identification unit 523. The second workshop is the location where the next manufacturing process (hereinafter referred to as the "next manufacturing process") is executed following the first manufacturing process. The second workshop is located in a specific location if certain conditions are met, such as when both the first and second cases are met. The first case is when the first and second workshops are located in different buildings, resulting in a travel process where the vehicle 10 travels along a connecting road R between the first and second workshops. The second case is when the manufacturing process performed in the first workshop is a manufacturing process that involves inter-vehicle work. The method and content of setting the target distance Dg are not limited to these. The target setting unit 525 may, for example, set the target distance Dg using on-board sensor information acquired by the first sensor group 26 mounted on the vehicle 10 or external camera images.
[0043] The decision information acquisition unit 526 acquires information (hereinafter referred to as decision information) for determining whether a manufacturing process identified by the process identification unit 523 has been completed. The decision information includes information such as in-vehicle camera images and external camera images acquired after the time control is started to set the actual distance Da between the front vehicle 101 and the rear vehicle 102 to a distance corresponding to the work content of a manufacturing process. However, the types of information included in the decision information and the timing of acquisition are not limited to these. The decision information may also include, for example, in-vehicle sensor information other than in-vehicle camera images and vehicle position information.
[0044] The determination unit 527 determines, using the determination information, whether a manufacturing process being performed on the vehicle 10 has been completed. In other words, the determination unit 527 determines whether a manufacturing process identified by the process identification unit 523 has been completed. For example, the determination unit 527 determines whether a manufacturing process being performed on the vehicle 10 has been completed by detecting workers captured in the in-vehicle camera image or external camera image, which is used as the determination information, through image analysis by the object detection model DM2. The object detection model DM2 is a trained machine learning model used to detect objects such as workers that have entered the area surrounding the vehicle 10. For example, a CNN can be used as the object detection model DM2. In this case, the determination unit 527 determines, for example, that a manufacturing process has not been completed if a worker is detected in the area surrounding the front vehicle 101 and the rear vehicle 102 in the in-vehicle camera image or external camera image. On the other hand, the determination unit 527 determines that a manufacturing process has been completed, for example, if no workers are detected in the area surrounding the front vehicle 101 and the rear vehicle 102 in the in-vehicle camera image or the external camera image. However, the method for determining whether a manufacturing process being performed on the vehicle 10 has been completed is not limited to this.
[0045] The signal generation unit 528 generates a driving control signal. Specifically, the signal generation unit 528 first determines the target location that the vehicle 10 should head to next. In this embodiment, the target location is represented by X, Y, Z coordinates in the global coordinate system. The remote storage unit 53 of the remote control device 5 has a reference route RR, which is the route that the vehicle 10 should travel, pre-stored in it. The route is represented by a node indicating the starting point, nodes indicating waypoints, a node indicating the destination, and links connecting each node. The signal generation unit 528 uses the vehicle position information and the reference route RR to determine the target location that the vehicle 10 should head to next. The signal generation unit 528 determines the target location on the reference route RR beyond the vehicle 10's current location.
[0046] Next, the signal generation unit 528 generates a driving control signal to drive the vehicle 10 toward the determined target position. The signal generation unit 528 calculates the driving speed of the vehicle 10 from the change in the vehicle 10's position and compares the calculated driving speed with the target speed. The target speed is determined, for example, according to the actual distance Da between the front vehicle 101 and the rear vehicle 102 and the target distance Dg between the front vehicle 101 and the rear vehicle 102. Overall, the signal generation unit 528 determines the acceleration so that the vehicle 10 accelerates if the driving speed is lower than the target speed, and determines the acceleration so that the vehicle 10 decelerates if the driving speed is higher than the target speed. Furthermore, if the vehicle 10 is located on the reference path RR, the signal generation unit 528 determines the steering angle and acceleration so that the vehicle 10 does not deviate from the reference path RR, and if the vehicle 10 is not located on the reference path RR, in other words, if the vehicle 10 has deviated from the reference path RR, it determines the steering angle and acceleration so that the vehicle 10 returns to the reference path RR.
[0047] In this embodiment, the signal generation unit 528 generates the following driving control signals using the reference path RR, the actual distance Da and target distance Dg between the front vehicle 101 and the rear vehicle 102, the driving speeds of the front vehicle 101 and the rear vehicle 102, the target speed, vehicle position information, etc. The signal generation unit 528 generates a driving control signal (hereinafter referred to as the first control signal) to set the actual distance Da between the front vehicle 101 and the rear vehicle 102 to the target distance Dg according to the manufacturing process information. At this time, the signal generation unit 528 generates at least one of the first control signals, which is the front first control signal and the rear first control signal.
[0048] The forward first control signal is a first control signal that defines the driving operation of the forward vehicle 101 in order to set the actual distance Da between the forward vehicle 101 and the rear vehicle 102 to a target distance Dg according to the manufacturing process information. For example, if the target distance Dg is longer than the actual distance Da between the forward vehicle 101 and the rear vehicle 102, the signal generation unit 528 generates a forward first control signal that causes the forward vehicle 101 to perform an acceleration process that increases the acceleration in the forward direction.
[0049] The first rear control signal is a first control signal that defines the driving operation of the rear vehicle 102 in order to set the actual distance Da between the front vehicle 101 and the rear vehicle 102 to a target distance Dg according to the manufacturing process information. For example, if the target distance Dg is longer than the actual distance Da between the front vehicle 101 and the rear vehicle 102, the signal generation unit 528 generates the following first rear control signal. In this case, the signal generation unit 528 generates a first rear control signal that causes the rear vehicle 102 to perform at least one of a deceleration process that reduces the acceleration in the forward direction and a reverse process that causes it to move backward in the opposite direction to the forward direction. Furthermore, if the target distance Dg is longer than the actual distance Da between the front vehicle 101 and the rear vehicle 102, the signal generation unit 528 may generate the following first rear control signal. In this case, the signal generation unit 528 may generate a first rear control signal that causes the rear vehicle 102 to perform a stop process that stops its driving operation.
[0050] In this embodiment, the first control signal includes the steering angle as a parameter in addition to the acceleration of the vehicle 10. This allows for correction of the positional deviation from the reference path RR during the process of changing the actual distance Da between the front vehicle 101 and the rear vehicle 102 to the target distance Dg.
[0051] Furthermore, if the first control signal is a driving control signal for executing at least one of acceleration and deceleration processes, the signal generation unit 528 may also include a parameter that defines the duration of the driving operation defined by the first control signal. In this case, the duration of driving at the acceleration expressed in the first control signal can be defined. This makes it possible to maintain the actual distance Da between the front vehicle 101 and the rear vehicle 102 in a state close to the target distance Dg. Also, in this case, if the first control signal includes the steering angle as a parameter, the duration of driving at the steering angle expressed in the first control signal can be defined. This makes it possible to maintain the relative position of the vehicle 10 in a state close to the reference path RR.
[0052] Furthermore, if the first control signal is a driving control signal for executing a reverse operation, the signal generation unit 528 may also include a parameter that defines the duration of the driving operation defined by the first control signal. In this way, the time from when the direction of travel of the vehicle 10 is switched from the forward direction to the reverse direction (opposite to the forward direction) by the first control signal until the direction of travel of the vehicle 10 is returned from the reverse direction to the forward direction can be defined. This makes it possible to maintain the actual distance Da between the front vehicle 101 and the rear vehicle 102 in a state close to the target distance Dg.
[0053] Furthermore, if the first control signal is a driving control signal for executing a stop process, the signal generation unit 528 may also include a parameter that defines the duration of the driving operation defined by the first control signal. In this way, the time for which the vehicle 10 is stopped can be defined by the first control signal. This makes it possible to maintain the actual distance Da between the front vehicle 101 and the rear vehicle 102 in a state close to the target distance Dg.
[0054] Furthermore, the signal generation unit 528 performs the following processing when the determination unit 527 determines that a manufacturing process being performed on the vehicle 10, in which inter-vehicle work is performed, has been completed. In this case, the signal generation unit 528 generates a driving control signal (hereinafter referred to as the second control signal) to set the actual distance Da between the front vehicle 101 and the rear vehicle 102 as a reference distance Ds, which is the target distance Dg, during the movement process. At this time, the signal generation unit 528 generates at least one of the second control signals, which is the front second control signal and the rear second control signal.
[0055] The forward second control signal is a second control signal that defines the driving operation of the forward vehicle 101 in order to make the actual distance Da between the forward vehicle 101 and the rear vehicle 102 a reference distance Ds during the movement process. For example, if the reference distance Ds is shorter than the actual distance Da between the forward vehicle 101 and the rear vehicle 102, the signal generation unit 528 generates the following forward second control signal. In this case, the signal generation unit 528 generates a forward second control signal that causes the forward vehicle 101 to perform at least one of deceleration processing and reverse processing. Alternatively, if the reference distance Ds is shorter than the actual distance Da between the forward vehicle 101 and the rear vehicle 102, the signal generation unit 528 may generate a forward second control signal that causes the forward vehicle 101 to perform stopping processing.
[0056] The rear second control signal is a second control signal that defines the driving operation of the rear vehicle 102 in order to make the actual distance Da between the front vehicle 101 and the rear vehicle 102 a reference distance Ds during the movement process. For example, if the reference distance Ds is shorter than the actual distance Da between the front vehicle 101 and the rear vehicle 102, the signal generation unit 528 generates a rear second control signal to cause the rear vehicle 102 to perform acceleration processing.
[0057] In this embodiment, the second control signal includes the steering angle as a parameter in addition to the acceleration of the vehicle 10. This allows for correction of the positional deviation from the reference path RR during the process of changing the actual distance Da between the front vehicle 101 and the rear vehicle 102 to the reference distance Ds.
[0058] Furthermore, if the second control signal is a driving control signal for executing at least one of acceleration and deceleration processes, the signal generation unit 528 may also include a parameter that defines the duration of the driving operation defined by the second control signal. In this case, the duration of driving at the acceleration expressed in the second control signal can be defined. This makes it possible to maintain the actual distance Da between the front vehicle 101 and the rear vehicle 102 in a state close to the reference distance Ds. Also, in this case, if the second control signal includes the steering angle as a parameter, the duration of driving at the steering angle expressed in the second control signal can be defined. This makes it possible to maintain the relative position of the vehicle 10 in a state close to the reference path RR.
[0059] Furthermore, if the second control signal is a driving control signal for executing a reverse operation, the signal generation unit 528 may also include a parameter that defines the duration of the driving operation defined by the second control signal. In this way, it is possible to define the time from when the direction of travel of the vehicle 10 is switched from the forward direction to the reverse direction (opposite to the forward direction) by the second control signal until the direction of travel of the vehicle 10 is returned from the reverse direction to the forward direction. This makes it possible to maintain the actual distance Da between the front vehicle 101 and the rear vehicle 102 in a state close to the reference distance Ds.
[0060] Furthermore, if the second control signal is a driving control signal for executing a stop process, the signal generation unit 528 may also include a parameter that defines the duration of the driving operation defined by the second control signal. In this way, the second control signal can define the time for which the vehicle 10 is stopped. This makes it possible to maintain the actual distance Da between the front vehicle 101 and the rear vehicle 102 in a state close to the reference distance Ds.
[0061] The remote transmission unit 529 transmits the driving control signal generated by the signal generation unit 528 to the vehicle 10 whose driving operation is to be controlled. Alternatively, the remote transmission unit 529 may transmit the driving control signal to the vehicle 10 via an external device such as an external camera 9. In this case, the remote transmission unit 529 transmits the driving control signal to the external camera 9. The external camera 9 then transmits the driving control signal received from the remote control device 5 to the vehicle 10. In this way, the vehicle 10 can receive the driving control signal from the external camera 9, which is closer to the vehicle 10. This makes it less susceptible to the effects of communication failures. Therefore, the possibility of the vehicle 10 stopping due to a communication failure during the period in which unmanned operation control is being performed can be reduced.
[0062] The remote CPU 52 repeatedly performs tasks such as acquiring vehicle position information, determining the target position, generating a driving control signal, and transmitting the driving control signal at predetermined intervals. At least some of the functions of the remote CPU 52 may be implemented as a function of the vehicle control device 2 or the external camera 9.
[0063] A-2. Remote control method for vehicles: Figure 4 is a flowchart showing the processing procedure for controlling the vehicle 10's movement in the first embodiment. The flow shown in Figure 4 is executed repeatedly at predetermined intervals, for example, from the moment the vehicle 10 starts moving in unmanned mode.
[0064] In step S101, the position acquisition unit 520 of the remote control device 5 acquires vehicle position information using the detection result output from the external camera 9, which is an external sensor. In step S102, the signal generation unit 528 of the remote control device 5 determines the target position to which the vehicle 10 should next go. In step S103, the signal generation unit 528 of the remote control device 5 generates a driving control signal to drive the vehicle 10 toward the determined target position. In step S4, the remote transmission unit 529 of the remote control device 5 transmits the generated driving control signal to the vehicle 10.
[0065] In step S105, the vehicle control device 2 mounted on the vehicle 10 receives a driving control signal transmitted from the remote control device 5. In step S106, the operation control unit 223 of the vehicle control device 2 controls the actuator group 29 using the received driving control signal, thereby driving the vehicle 10 at the acceleration and steering angle indicated in the driving control signal. The vehicle control device 2 repeats the reception of the driving control signal and the control of the actuator group 29 at a predetermined cycle. According to the control system 1 of this embodiment, the vehicle 10 can be driven by remote control, and the vehicle 10 can be moved without using transport equipment such as cranes or conveyors.
[0066] A-3. How to adjust the distance between vehicles: The following explanation will use an example where, for vehicle 10, one manufacturing process involving inter-vehicle work is performed in the first workshop, and then the next manufacturing process is performed in the second workshop, and vehicle 10 travels on a track R connecting the first and second workshops. In other words, it will show a control method when the manufacturing process includes a movement process and one manufacturing process is being performed on vehicle 10.
[0067] Figure 5 is a first flowchart showing the first adjustment method. Figure 6 is a second flowchart showing the first adjustment method. The first adjustment method is a method of adjusting the actual distance Da between the front vehicle 101 and the rear vehicle 102 to a target distance Dg according to the work content of a manufacturing process being performed on the vehicle 10.
[0068] As shown in Figure 5, when the predetermined adjustment timing is reached (Step S301: Yes), the remote transmission unit 529 of the remote control device 5 performs the following processing. In this case, the remote transmission unit 529 transmits a first request signal to the external camera 9, the front vehicle 101, and the rear vehicle 102 (Step S302).
[0069] If the first request signal is received (step S303: Yes), the external camera 9 acquires an external camera image (step S304). After step S304, the external camera 9 transmits the external camera image, along with camera identification information, to the remote control device 5 (step S305).
[0070] When the status acquisition unit 221 of the vehicle 10 receives a first request signal (step S306: Yes), the status acquisition unit 221 acquires the on-board sensor information acquired by the first type sensor group 26 and the second type sensor group 27 (step S307). After step S307, the vehicle transmission unit 222 transmits the on-board sensor information, along with the vehicle identification information, to the remote control device 5 (step S308). Note that the steps from S303 to S305 and the steps from S306 to S308 may be executed in any order, or they may be executed simultaneously.
[0071] After step S308, the position acquisition unit 520 of the remote control device 5 acquires vehicle position information (step S309). After step S309, the speed calculation unit 521 calculates the respective driving speeds of the front vehicle 101 and the rear vehicle 102 (step S310). After step S310, the actual distance calculation unit 522 performs the following processing using at least some of the vehicle position information and driving speed of the front vehicle 101 and the vehicle position information and driving speed of the rear vehicle 102. In this case, the actual distance calculation unit 522 calculates the actual distance Da between the front vehicle 101 and the rear vehicle 102 (step S311). After step S311, the process identification unit 523 identifies a manufacturing process being performed on the front vehicle 101 and the rear vehicle 102 using onboard camera images, etc. (step S312). Following step S312, the process information acquisition unit 524 acquires manufacturing process information for a single manufacturing process identified by the process identification unit 523 (step S313).
[0072] As shown in Figure 6, after step S313, the target setting unit 525 sets the target distance Dg to a distance corresponding to the work content of one manufacturing process using the target distance database DB and manufacturing process information, etc. (step S314). After step S314, the signal generation unit 528 determines the target position using the reference path RR, the actual distance Da and target distance Dg between the front vehicle 101 and the rear vehicle 102, the travel speeds of the front vehicle 101 and the rear vehicle 102, the target speed, vehicle position information, etc. (step S315). After step S315, the signal generation unit 528 generates at least one of a first forward control signal and a first rear control signal in order to drive the vehicle 10 toward the determined target position (step S316). After step S316, the remote transmission unit 529 transmits the first control signal to the vehicle 10 whose driving operation is to be controlled (step S317). In other words, the remote transmission unit 529 transmits the first forward control signal to the front vehicle 101 and the first rear control signal to the rear vehicle 102.
[0073] When the vehicle control device 2 mounted on the vehicle 10 receives the first control signal (step S318: Yes), the operation control unit 223 uses the received first control signal to control the actuator group 29, thereby causing the vehicle 10 to travel at the acceleration and steering angle indicated in the first control signal (step S319).
[0074] Figure 7 is a first flowchart illustrating the second adjustment method. Figure 8 is a second flowchart illustrating the second adjustment method. The second adjustment method is a method of adjusting the actual distance Da between the front vehicle 101 and the rear vehicle 102 to a reference distance Ds during the movement process. In other words, the second adjustment method is performed after step S319 of the first adjustment method shown in Figure 6.
[0075] As shown in Figure 7, when the decision timing is reached (step S401: Yes), the remote transmission unit 529 of the remote control device 5 performs the following processing. The decision timing is a timing after the timing when step S319 of the first adjustment method shown in Figure 6 is executed. Specifically, the decision timing is, for example, the timing when the elapsed time from the timing when driving in response to the first control signal started has exceeded a predetermined time, or the timing when a predetermined time has elapsed since the previous decision timing. In this case, as shown in Figure 7, the remote transmission unit 529 transmits a second request signal to the external camera 9, the front vehicle 101, and the rear vehicle 102 (step S402).
[0076] If the external camera 9 receives the second request signal (step S403: Yes), the external camera 9 acquires an external camera image (step S404). After step S404, the external camera 9 transmits the external camera image, along with camera identification information, to the remote control device 5 (step S405).
[0077] When the vehicle control device 2 mounted on the vehicle 10 receives the second request signal (step S406: Yes), the status acquisition unit 221 acquires the on-board sensor information (step S407). After step S407, the vehicle transmission unit 222 transmits the on-board sensor information, along with the vehicle identification information, to the remote control device 5 (step S408). Note that the steps from S403 to S405 and the steps from S406 to S408 may be executed in any order, or they may be executed simultaneously.
[0078] If the decision information acquisition unit 526 of the remote control device 5 acquires the decision information (step S409: Yes), the decision unit 527 uses the decision information to determine whether a manufacturing process identified by the process identification unit 523 has been completed (step S410). In other words, the decision unit 527 determines whether a manufacturing process targeted by the first control signal has been completed. If the decision unit 527 determines that a manufacturing process identified by the process identification unit 523 has been completed (step S410: Yes), the position acquisition unit 520 acquires vehicle position information (step S411). After step S411, the speed calculation unit 521 calculates the respective travel speeds of the front vehicle 101 and the rear vehicle 102 (step S412). On the other hand, if the decision unit 527 determines that a manufacturing process identified by the process identification unit 523 has not been completed (step S410: No), the process returns to step S401, and each step from step S401 to step S410 is repeatedly executed.
[0079] As shown in Figure 8, after step S412, the actual distance calculation unit 522 performs the following processing using at least some of the vehicle position information and driving speed of the front vehicle 101 and the vehicle position information and driving speed of the rear vehicle 102. In this case, the actual distance calculation unit 522 calculates the actual distance Da between the front vehicle 101 and the rear vehicle 102 (step S413). After step S413, the target setting unit 525 sets the target distance Dg between the front vehicle 101 and the rear vehicle 102 as the reference distance Ds (step S414). After step S414, the signal generation unit 528 determines the target position using the reference path RR, the actual distance Da and reference distance Ds between the front vehicle 101 and the rear vehicle 102, the driving speeds of the front vehicle 101 and the rear vehicle 102, the target speed, vehicle position information, etc. (step S415). After step S415, the signal generation unit 528 generates at least one of a forward second control signal and a rear second control signal in order to drive the vehicle 10 toward the determined target position (step S416). After step S416, the remote transmission unit 529 transmits the second control signals to the vehicle 10 whose driving operation is to be controlled (step S417). In other words, the remote transmission unit 529 transmits the forward second control signal to the front vehicle 101 and the rear second control signal to the rear vehicle 102.
[0080] When the vehicle control device 2 mounted on the vehicle 10 receives the second control signal (step S418: Yes), the operation control unit 223 uses the received second control signal to control the actuator group 29, thereby causing the vehicle 10 to travel at the acceleration and steering angle indicated in the second control signal (step S419).
[0081] According to the first embodiment described above, the remote control device 5 can set a target distance Dg between the front vehicle 101 and the rear vehicle 102 according to manufacturing process information relating to a single manufacturing process. The remote control device 5 can then adjust the actual distance Da between the front vehicle 101 and the rear vehicle 102 so that the actual distance Da between them becomes the target distance Dg according to the manufacturing process information relating to a single manufacturing process being performed on the vehicle 10. In other words, the remote control device 5 can set the actual distance Da between the front vehicle 101 and the rear vehicle 102, which are driven by remote control, to a distance suitable for the work content of a single manufacturing process being performed in the manufacturing process. In this way, it is possible to prevent the actual distance Da between the front vehicle 101 and the rear vehicle 102 from becoming unnecessarily long compared to the target distance Dg suitable for the work content of a single manufacturing process being performed on the vehicle 10. This reduces the possibility that the time required to manufacture the vehicle 10 will increase due to the actual distance Da between the front vehicle 101 and the rear vehicle 102 becoming unnecessarily long. Furthermore, it is possible to prevent the actual distance Da between the front vehicle 101 and the rear vehicle 102 from becoming unnecessarily shorter than the target distance Dg appropriate for the work content of one manufacturing process being performed on the vehicle 10. This reduces the possibility that the actual distance Da between the front vehicle 101 and the rear vehicle 102 may become unnecessarily short, thereby hindering the work when manufacturing the vehicle 10.
[0082] Furthermore, according to the first embodiment described above, the work information included in the manufacturing process information includes inter-vehicle work information. This allows the remote control device 5 to set the target distance Dg such that the target distance Dg in a manufacturing process in which inter-vehicle work is performed is longer than the target distance Dg in a manufacturing process in which inter-vehicle work is not performed. In other words, in a manufacturing process in which inter-vehicle work is performed, the actual distance Da between the front vehicle 101 and the rear vehicle 102 can be made longer compared to a manufacturing process in which work other than inter-vehicle work (for example, work on the side of the vehicle 10) is performed. This makes it possible to more reliably secure a work area for workers to enter and work between the front vehicle 101 and the rear vehicle 102. This makes it possible to further reduce the possibility of interference with inter-vehicle work. Moreover, with this configuration, the safety of workers when performing inter-vehicle work can be ensured.
[0083] Furthermore, according to the first embodiment described above, when the target distance Dg is longer than the actual distance Da between the front vehicle 101 and the rear vehicle 102, the remote control device 5 can generate a first rear control signal to cause the rear vehicle 102 to perform at least one of deceleration processing and reverse processing. In this way, the actual distance Da between the front vehicle 101 and the rear vehicle 102 can be easily increased by controlling at least one of the acceleration and direction of travel of the rear vehicle 102.
[0084] Furthermore, according to the first embodiment described above, when the target distance Dg is longer than the actual distance Da between the front vehicle 101 and the rear vehicle 102, the remote control device 5 can generate a first forward control signal to cause the front vehicle 101 to perform acceleration processing. In this way, by controlling the acceleration of the front vehicle 101, the actual distance Da between the front vehicle 101 and the rear vehicle 102 can be easily increased. In other words, by creating a difference in the travel speed between the front vehicle 101 and the rear vehicle 102, the actual distance Da between the front vehicle 101 and the rear vehicle 102 can be easily increased.
[0085] Furthermore, according to the first embodiment described above, the remote control device 5 can generate and transmit both a first forward control signal and a first rear control signal in order to set the actual distance Da between the front vehicle 101 and the rear vehicle 102 to the target distance Dg. As a result, the vehicle control devices 2 of the front vehicle 101 and the rear vehicle 102, which have received the first control signals, can control their operation using the first control signals to adjust the actual distance Da between the front vehicle 101 and the rear vehicle 102 to the target distance Dg. This makes it possible to efficiently change the actual distance Da between the front vehicle 101 and the rear vehicle 102, such as by shortening the time required for the actual distance Da between the front vehicle 101 and the rear vehicle 102 to become the target distance Dg.
[0086] Furthermore, according to the first embodiment described above, the remote control device 5 can determine, using judgment information, whether or not a manufacturing process being performed on the vehicle 10 has been completed. When the remote control device 5 determines that a manufacturing process in which inter-vehicle work is performed has been completed, it can adjust the actual distance Da between the front vehicle 101 and the rear vehicle 102 to a reference distance Ds during the movement process. In other words, according to the first embodiment described above, after a manufacturing process has been completed, the remote control device 5 can change the actual distance Da between the front vehicle 101 and the rear vehicle 102 to a reference distance Ds during the movement process. This prevents the actual distance Da between the front vehicle 101 and the rear vehicle 102 from becoming unnecessarily long during the movement process after the completion of a manufacturing process in which inter-vehicle work is performed. Therefore, the vehicle 10 can be moved efficiently during the movement process.
[0087] Furthermore, according to the first embodiment described above, the control system 1 can operate the vehicle 10 unmanned within a factory where multiple manufacturing processes are performed. In other words, the vehicle 10 can be transported within the factory without using a belt conveyor. When transporting the vehicle 10 by a belt conveyor, it can be difficult to dynamically change the actual distance Da between the front vehicle 101 and the rear vehicle 102 placed on the belt. In this case, when multiple manufacturing processes are performed on multiple vehicles 10 placed on the same belt, the actual distance Da between the front vehicle 101 and the rear vehicle 102 is likely to be set as follows. In this case, the actual distance Da between the front vehicle 101 and the rear vehicle 102 is likely to be set to the distance corresponding to the work content of the manufacturing process that requires the longest inter-vehicle distance among the multiple manufacturing processes performed on the vehicle 10 placed on the same belt. In this case, the actual distance Da between the front vehicle 101 and the rear vehicle 102 may become unnecessarily long compared to the inter-vehicle distance suitable for the work content of the manufacturing process. In contrast, according to the first embodiment described above, the control system 1 can transport the vehicle 10 within the factory by controlling the vehicle's movement without using a belt conveyor, and can also adjust the actual distance Da between the front vehicle 101 and the rear vehicle 102. This makes it possible to optimize the distance between multiple vehicles 10 during the manufacturing process.
[0088] B. Second Embodiment: Figure 9 is a diagram showing the schematic configuration of the control system 1a in the second embodiment. In this embodiment, the control during the movement process differs from that of the first embodiment. Therefore, the manufacturing process has a movement process in which the vehicle 10 travels between a first workshop where one manufacturing process is executed and a second workshop where the next manufacturing process, which is executed after the first manufacturing process, is executed. In this embodiment, the third adjustment method is executed after the first adjustment method shown in Figures 5 and 6. That is, in this embodiment, the third adjustment method is executed instead of the second adjustment method shown in Figures 7 and 8. The third adjustment method is a method of adjusting the actual distance Da between the front vehicle 101 and the rear vehicle 102 to the next target distance Dn shown in Figure 9. The next target distance Dn is the distance between the front vehicle 101 and the rear vehicle 102 according to the next manufacturing process information, which is information about the next manufacturing process. That is, the next target distance Dn is the distance between the front vehicle 101 and the rear vehicle 102 that is suitable for the work content of the next manufacturing process. The other configurations of the control system 1a are the same as in the first embodiment unless otherwise specified. Components identical to those in the first embodiment are denoted by the same reference numerals and their descriptions are omitted.
[0089] Figure 10 shows a schematic configuration of the remote control device 5a in the second embodiment. The remote control device 5a comprises a remote communication unit 51, a remote CPU 52a, and a remote storage unit 53a. The remote CPU 52a functions as a position acquisition unit 520, a speed calculation unit 521, an actual distance calculation unit 522, a process identification unit 523, a process information acquisition unit 524a, and a target setting unit 525a by deploying various programs PG5a stored in the remote storage unit 53a. Furthermore, the remote CPU 52a functions as a judgment information acquisition unit 526, a judgment unit 527, a signal generation unit 528a, and a remote transmission unit 529 by deploying various programs PG5a stored in the remote storage unit 53a.
[0090] The process information acquisition unit 524a further acquires information on the next manufacturing process. When the determination unit 527 determines that a manufacturing process identified by the process identification unit 523 has been completed, the target setting unit 525a sets the target distance Dg between the front vehicle 101 and the rear vehicle 102 to the next target distance Dn. The signal generation unit 528a performs the following processing when the determination unit 527 determines that a manufacturing process identified by the process identification unit 523 has been completed. In this case, the signal generation unit 528a generates a driving control signal (hereinafter referred to as the third control signal) to set the actual distance Da between the front vehicle 101 and the rear vehicle 102 to the next target distance Dn during the movement process. At this time, the signal generation unit 528 generates at least one of the forward third control signal and the rear third control signal. The forward third control signal is a third control signal that defines the driving operation of the front vehicle 101 in order to set the actual distance Da between the front vehicle 101 and the rear vehicle 102 to the next target distance Dn. The third rear control signal is a third control signal that defines the driving operation of the rear vehicle 102 in order to set the actual distance Da between the front vehicle 101 and the rear vehicle 102 to the next target distance Dn.
[0091] Figure 11 is a first flowchart illustrating the third adjustment method. Figure 12 is a second flowchart illustrating the third adjustment method. As mentioned above, the third adjustment method is performed after step S319 of the first adjustment method shown in Figure 6.
[0092] As shown in Figure 11, when the timing for making a decision is reached (step S501: Yes), the remote transmission unit 529 of the remote control device 5 transmits a third request signal to the external camera 9, the vehicle in front 101, and the vehicle behind 102 (step S502).
[0093] If the external camera 9 receives the third request signal (step S503: Yes), the external camera 9 acquires an external camera image (step S504). After step S504, the external camera 9 transmits the external camera image, along with camera identification information, to the remote control device 5 (step S505).
[0094] When the vehicle control device 2 mounted on the vehicle 10 receives the third request signal (step S506: Yes), the status acquisition unit 221 acquires the on-board sensor information (step S507). After step S507, the vehicle transmission unit 222 transmits the on-board sensor information, along with the vehicle identification information, to the remote control device 5 (step S508). Note that the steps from S503 to S505 and the steps from S506 to S508 may be executed in any order, or they may be executed simultaneously.
[0095] If the decision information acquisition unit 526 of the remote control device 5 acquires the decision information (step S509: Yes), the decision unit 527 uses the decision information to determine whether a manufacturing process identified by the process identification unit 523 has been completed (step S510). If the decision unit 527 determines that a manufacturing process identified by the process identification unit 523 has been completed (step S510: Yes), the position acquisition unit 520 acquires vehicle position information (step S511). After step S511, the speed calculation unit 521 calculates the respective travel speeds of the front vehicle 101 and the rear vehicle 102 (step S512). On the other hand, if the decision unit 527 determines that a manufacturing process identified by the process identification unit 523 has not been completed (step S510: No), the process returns to step S501, and each step from step S501 to step S510 is repeated.
[0096] As shown in Figure 12, after step S512, the actual distance calculation unit 522 calculates the actual distance Da between the front vehicle 101 and the rear vehicle 102 (step S513). After step S513, the process information acquisition unit 524a acquires the next manufacturing process information (step S514). After step S514, the target setting unit 525a sets the target distance Dg between the front vehicle 101 and the rear vehicle 102 to the next target distance Dn (step S515). After step S515, the signal generation unit 528a determines the target position using the reference path RR, the actual distance Da and next target distance Dn between the front vehicle 101 and the rear vehicle 102, the travel speeds of the front vehicle 101 and the rear vehicle 102, the target speed, vehicle position information, etc. (step S516). After step S516, the signal generation unit 528a generates at least one of a forward third control signal and a backward third control signal in order to drive the vehicle 10 toward the determined target position (step S517). After step S517, the remote transmission unit 529 transmits the third control signal to the vehicle 10, which is the vehicle whose driving operation is to be controlled during the moving process (step S518).
[0097] When the vehicle control device 2 mounted on the vehicle 10 receives the third control signal (step S519: Yes), the operation control unit 223 uses the received third control signal to control the actuator group 29, thereby causing the vehicle 10 to move at the acceleration, etc., indicated in the third control signal (step S520).
[0098] According to the second embodiment described above, when the determination unit 527 determines that a manufacturing process identified by the process identification unit 523 has been completed, the actual distance Da between the front vehicle 101 and the rear vehicle 102 can be adjusted during the movement process to become the next target distance Dn. In other words, after the completion of one manufacturing process, and before the start of the next manufacturing process, the actual distance Da between the front vehicle 101 and the rear vehicle 102 can be adjusted in advance to a vehicle-to-vehicle distance suitable for the work content of the next manufacturing process. This makes it possible to optimize the actual distance Da between the front vehicle 101 and the rear vehicle 102 while the vehicle 10 is traveling on the track R between the workplaces where the first manufacturing process and the next manufacturing process are performed. Therefore, at the time the next manufacturing process starts, the actual distance Da between the front vehicle 101 and the rear vehicle 102 is a vehicle-to-vehicle distance appropriate for the work content of the next manufacturing process, which can improve work efficiency in the next manufacturing process and enhance worker safety.
[0099] C. Third Embodiment: Figure 13 shows a schematic configuration of the control system 1v in the third embodiment. In this embodiment, the control system 1v differs from the first embodiment in that it does not include a remote control device 5. Also, in this embodiment, the vehicle 10v can be driven by autonomous control of the vehicle 10v. The other components of the control system 1v are the same as in the first embodiment unless otherwise specified. Components identical to those in the first embodiment are denoted by the same reference numerals and their descriptions are omitted.
[0100] Figure 14 is a diagram showing the schematic configuration of the vehicle control device 2v in the third embodiment. Figure 14 shows a representative part of the configuration of the vehicle 10v. The vehicle control device 2v includes a vehicle storage unit 23v as the storage unit of the vehicle control device 2v, a vehicle CPU 22v as the central processing unit of the vehicle control device 2v, and an input / output interface 24.
[0101] The vehicle memory unit 23v stores various information, including various programs PG2v that control the driving operation of the vehicle 10v, a vehicle detection model DM1, an object detection model DM2, a target distance database DB, and a reference route RR. The vehicle memory unit 23 includes, for example, RAM, ROM, a hard disk drive (HDD), etc.
[0102] The vehicle CPU 22v functions as a position acquisition unit 211, a speed calculation unit 212, an actual distance calculation unit 213, and a process identification unit 214 by deploying various programs PG2v stored in the vehicle memory unit 23v. Furthermore, the vehicle CPU 22v functions as a process information acquisition unit 215, a target setting unit 216, a signal generation unit 217, a state acquisition unit 221, and an operation control unit 223v by deploying various programs PG2v stored in the vehicle memory unit 23v.
[0103] The position acquisition unit 211 acquires vehicle position information using detection results output from an external sensor. In this embodiment, the position acquisition unit 211 acquires vehicle position information using detection results output from an external camera 9, which is an external sensor. The speed calculation unit 212 calculates the driving speed of its own vehicle 10v. The speed calculation unit 521 may acquire the driving speed of another vehicle 10v from the other vehicle 10v. The other vehicle 10v is another vehicle 10v that is traveling in front of or behind the own vehicle 10v. The actual distance calculation unit 213 calculates the actual distance Da between the own vehicle 10v and the other vehicle 10v. The process identification unit 214 identifies one manufacturing process from among a plurality of manufacturing processes in the manufacturing process that is being performed on at least one of the vehicles 10v, the own vehicle 10v and the other vehicle 10v. The process information acquisition unit 215 acquires manufacturing process information for one manufacturing process being performed on at least one of the vehicles 10v, the local vehicle 10v and the other vehicle 10v. The target setting unit 216 sets the target distance Dg between the local vehicle 10v and the other vehicle 10v according to the manufacturing process. The signal generation unit 217 generates various driving control signals to set the actual distance Da between the local vehicle 10v and the other vehicle 10v as the target distance Dg. Specifically, the signal generation unit 217 first determines the target position that the local vehicle 10v should head to next. Then, the signal generation unit 217 generates a driving control signal to drive the local vehicle 10v toward the determined target position. The operation control unit 223v controls the actuator group 29 using the generated driving control signal to drive the local vehicle 10v according to the parameters expressed in the driving control signal. The vehicle control device 2v repeats the acquisition of vehicle position information, determination of target position, generation of driving control signals, and control of actuators at predetermined cycles.
[0104] Figure 15 is a flowchart showing the processing procedure for controlling the vehicle 10v's driving in the third embodiment. The flow shown in Figure 15 is executed repeatedly at predetermined intervals, for example, from the time the vehicle 10v starts driving in unmanned mode.
[0105] In step S201, the position acquisition unit 211 of the vehicle control device 2v acquires vehicle position information using the detection result output from the external camera 9. In step S202, the signal generation unit 217 determines the target position to which the vehicle 10v should next go. In step S203, the signal generation unit 217 generates a driving control signal to drive the vehicle 10v toward the determined target position. In step S204, the operation control unit 223v controls the actuator group 29 using the generated driving control signal, thereby driving the vehicle 10v according to the parameters expressed in the driving control signal.
[0106] According to the third embodiment described above, the control system 1v can drive the vehicle 10v by autonomous control of the vehicle 10v, even without remote control of the vehicle 10v by the remote control device 5.
[0107] Furthermore, according to the third embodiment described above, the vehicle control device 2v can set a target distance Dg between its own vehicle 10v and the other vehicle 10v according to manufacturing process information relating to a single manufacturing process. This allows the actual distance Da between the own vehicle 10v and the other vehicle 10v to be adjusted so that the actual distance Da between them becomes the target distance Dg according to the manufacturing process information. In this way, the actual distance Da between the own vehicle 10v and the other vehicle 10v can be adjusted to a vehicle-to-vehicle distance suitable for the work content of a single manufacturing process. Therefore, it is possible to prevent the actual distance Da between the own vehicle 10v and the other vehicle 10v from becoming unnecessarily long compared to the target distance Dg. This reduces the possibility that the time required for manufacturing the vehicle 10v will increase due to the actual distance Da between the own vehicle 10v and the other vehicle 10v becoming unnecessarily long. It is also possible to prevent the actual distance Da between the own vehicle 10v and the other vehicle 10v from becoming unnecessarily short compared to the target distance Dg. This reduces the possibility of disruptions to the manufacturing process of the vehicle 10V due to the actual distance Da between the vehicle's 10V and another vehicle's 10V becoming unnecessarily short.
[0108] Furthermore, in the third embodiment described above, the vehicle control device 2v may set the target distance Dg such that the target distance Dg in the manufacturing process in which inter-vehicle work is performed is longer than the target distance Dg in the manufacturing process in which inter-vehicle work is not performed. In this way, a work area for workers to enter and work between their own vehicle 10v and the other vehicle 10v can be more reliably secured. This reduces the possibility of interference with inter-vehicle work and ensures the safety of workers when performing inter-vehicle work.
[0109] Furthermore, in the third embodiment described above, if the target distance Dg is longer than the actual distance Da between the vehicle 10v and the other vehicle 10v, and the vehicle 10v is traveling behind the other vehicle 10v, the vehicle control device 2v may generate the following first control signal. In this case, the vehicle control device 2v may generate a first control signal that causes the vehicle 10v to perform at least one of deceleration processing and reverse processing. By doing so, the actual distance Da between the vehicle 10v and the other vehicle 10v can be increased by controlling either the acceleration or the direction of travel of the vehicle 10v.
[0110] Furthermore, in the third embodiment described above, if the target distance Dg is longer than the actual distance Da between the vehicle 10v and the other vehicle 10v, and the vehicle 10v is traveling ahead of the other vehicle 10v, the vehicle control device 2v may generate the following first control signal. In this case, the vehicle control device 2v may generate a first control signal to cause the vehicle 10v to perform acceleration processing. By doing so, the actual distance Da between the vehicle 10v and the other vehicle 10v can be increased by controlling the acceleration of the vehicle 10v.
[0111] Furthermore, in the third embodiment described above, the vehicle control device 2v may further include a determination information acquisition unit 526 and a determination unit 527. When it is determined that a manufacturing process in which inter-vehicle work is performed has been completed, the vehicle control device 2v may generate the following second control signal. In this case, the vehicle control device 2v may generate a second control signal that defines the operation of the vehicle 10v in order to set the actual distance Da between the vehicle 10v and the other vehicle 10v to a reference distance Ds as the target distance Dg during the movement process. In this way, the vehicle control device 2v can determine whether or not a manufacturing process in which inter-vehicle work is performed, which is being performed on at least one of the vehicle 10v and the other vehicle 10v, has been completed. When it is determined that a manufacturing process in which inter-vehicle work is performed has been completed, the vehicle control device 2v can set the target distance Dg between the vehicle 10v and the other vehicle 10v to a reference distance Ds that is shorter than the target distance Dg when inter-vehicle work is being performed. In this way, when the vehicle control device 2v determines that a manufacturing process in which inter-vehicle work is performed has finished, it can adjust the actual distance Da between its own vehicle 10v and the other vehicle 10v during the movement process so that the actual distance Da between the vehicle 10v and the other vehicle 10v becomes the reference distance Ds. This prevents the actual distance Da between the vehicle 10v and the other vehicle 10v from becoming unnecessarily long after the completion of a manufacturing process.
[0112] Furthermore, in the third embodiment described above, the vehicle control device 2v may further include a determination information acquisition unit 526 and a determination unit 527. When it is determined that a manufacturing process has been completed, the vehicle control device 2v may generate the following third control signal. In this case, the vehicle control device 2v may generate a third control signal that defines the operation of the vehicle 10v in order to set the actual distance Da between the vehicle 10v and the other vehicle 10v to the next target distance Dn as the target distance Dg during the movement process. In this way, the vehicle control device 2v can determine whether or not a manufacturing process being performed on at least one of the vehicle 10v and the other vehicle 10v has been completed. When it is determined that a manufacturing process has been completed, the vehicle control device 2v can set the target distance Dg between the vehicle 10v and the other vehicle 10v to the next target distance Dn according to the next manufacturing process information. As a result, when it is determined that a manufacturing process has been completed, the vehicle control device 2v can adjust the actual distance Da between the vehicle 10v and the other vehicle 10v to the next target distance Dn during the movement process. Therefore, the actual distance Da between your own vehicle (10V) and another vehicle (10V) can be adjusted in advance to a vehicle-to-vehicle distance suitable for the work content of the next manufacturing process before the next manufacturing process begins.
[0113] D. Other embodiments: D-1. Other Embodiments 1: In other embodiments, when the inter-vehicle work is an assembly operation in which a communication-enabled device is installed in the vehicle 10,10v, the decision information may include communication feasibility information. The communication feasibility information indicates whether or not the communication-enabled device can communicate with the outside of the vehicle 10,10v. In this case, if the communication-enabled device can communicate with the outside of the vehicle 10,10v, the control systems 1,1a,1v determine that the manufacturing process in which the inter-vehicle work is being performed has been completed. On the other hand, if the communication-enabled device cannot communicate with the outside of the vehicle 10, the control systems 1,1a,1v determine that the manufacturing process in which the inter-vehicle work is being performed has not been completed. In this configuration, the control systems 1,1a,1v can determine whether or not a manufacturing process has been completed using the feasibility of communication between the outside of the vehicle 10,10v and the communication-enabled device.
[0114] D-2. Other Embodiments 2: In other embodiments, the control systems 1,1a,1v may generate a second control signal to adjust the actual distance Da between the front vehicle 101 and the rear vehicle 102 to a reference distance Ds during the process of moving the vehicles 10,10v from the workshop where the last manufacturing process was performed to the storage location after all manufacturing processes have been completed. The storage location is, for example, a yard. In this case, the manufacturing process information includes final process information indicating whether the manufacturing process identified by the manufacturing process identification information is the last manufacturing process to be performed among a plurality of manufacturing processes in the manufacturing process. The control systems 1,1a,1v use the manufacturing process information and determination information to determine whether a manufacturing process has been completed and whether that manufacturing process is the last manufacturing process to be performed among a plurality of manufacturing processes in the manufacturing process. Next, if it is determined that the last manufacturing process to be performed in the manufacturing process has been completed, the control systems 1,1a,1v generate a second control signal without identifying a new manufacturing process or acquiring new manufacturing process information. In this configuration, the control systems 1,1a,1v can adjust the actual distance Da between the front vehicle 101 and the rear vehicle 102 during the movement process of vehicles 10 and 10v from the workshop where the final manufacturing process is performed to the storage location, so that it becomes equal to the reference distance Ds. This prevents the actual distance Da between the front vehicle 101 and the rear vehicle 102 from becoming unnecessarily long during the movement process. Therefore, vehicles 10 and 10v can be moved efficiently from the workshop where the final manufacturing process is performed to the storage location.
[0115] D-3. Other Embodiments 3: In other embodiments, the decision information may include input information entered by a worker via an input device (not shown) when the manufacturing process is completed. The input device may be, for example, a tablet terminal or mobile terminal that can be carried by a worker, or a push-button switch or lever switch pre-installed in the workplace where the manufacturing process is performed. In this case, the control systems 1,1a,1v determine, for example, that a manufacturing process being performed on the vehicles 10,10v is complete when they receive input information. On the other hand, the control systems 1,1a,1v determine that a manufacturing process being performed on the vehicles 10,10v is not complete when they do not receive input information. With this configuration, the control systems 1,1a,1v can determine whether a manufacturing process is complete or not without performing image analysis of on-board camera images or external camera images. This reduces the processing load on the control systems 1,1a,1v.
[0116] D-4. Other Embodiments 4: In other embodiments, the decision information may include at least one of the following: on-board radar information acquired by the on-board radar 262 mounted on the vehicles 10, 10v, and on-board lidar information acquired by the on-board lidar 263 mounted on the vehicles 10, 10v. In this case, if the on-board radar 262 or the on-board lidar 263 detects an object in the area surrounding the front vehicle 101 and the rear vehicle 102, the control systems 1, 1a, 1v determine that a manufacturing process being performed on the vehicles 10, 10v has not been completed. On the other hand, if the on-board radar 262 or the on-board lidar 263 does not detect an object in the area surrounding the front vehicle 101 and the rear vehicle 102, the control systems 1, 1a, 1v determine that a manufacturing process being performed on the vehicles 10, 10v has been completed. In this configuration, the control systems 1,1a,1v can determine whether a manufacturing process has been completed using the detection results output from at least one of the on-board radar 262 and the on-board lidar 263.
[0117] D-5. Other Embodiments 5: In other embodiments, the control systems 1,1a,1v may identify a single manufacturing process being executed on vehicles 10,10v by comparing information indicating the location of the workspace where each manufacturing process is performed (hereinafter referred to as workspace location information) with vehicle location information. In this case, the workspace location information is, for example, map data that associates coordinate values indicating the location of each workspace with manufacturing process identification information that identifies the manufacturing process on a map showing the entire factory. Alternatively, the workspace location information may be table data that links the coordinate values indicating the location of each workspace with the manufacturing process identification information for each manufacturing process. In this configuration, the control systems 1,1a,1v can use the vehicle location information to identify a single manufacturing process being executed on vehicles 10,10v.
[0118] D-6. Other Embodiments 6: In another embodiment, the control systems 1,1a,1v may identify a manufacturing process being performed on the vehicle 10,10v by utilizing communication between the vehicle 10,10v and the outside of the vehicle 10,10v. In this case, the vehicle 10,10v receives radio waves, for example, from transmitters installed in the workshops where each manufacturing process is performed, with each radio wave having a different frequency. The control systems 1,1a,1v then identify a manufacturing process being performed on the vehicle 10,10v based on the frequency information. In this configuration, a manufacturing process being performed on the vehicle 10,10v can be identified through communication between the vehicle 10,10v and the outside of the vehicle 10,10v.
[0119] D-7. Other Embodiments 7: In other embodiments, the external sensor does not have to be a camera, but may be, for example, a LiDAR (Light Detection and Ranging). In this case, the detection result output by the external sensor may be 3D point cloud data representing the vehicles 10 and 10v. In this case, the remote control devices 5 and 5a and the vehicles 10 and 10v may acquire vehicle position information by template matching using the 3D point cloud data as a detection result and pre-prepared reference point cloud data.
[0120] D-8. Other Embodiments 8: In other embodiments, vehicle position information may be acquired using information obtained by a position information receiving unit (not shown) mounted on the vehicles 10, 10v. In this case, the vehicles 10, 10v are equipped with a position information receiving unit, such as a GNSS receiver capable of receiving radio waves transmitted from GNSS satellites, as a first-class sensor 260. Furthermore, in other embodiments, vehicle position information may be acquired using at least one of the following: an on-board camera image acquired by an on-board camera 261, on-board radar information acquired by an on-board radar 262, and on-board lidar information acquired by an on-board lidar 263. Even in such configurations, the control systems 1, 1a, 1v can use the vehicle position information, etc., to change the actual distance Da between the front vehicle 101 and the rear vehicle 102 to a target distance Dg.
[0121] D-9. Other Embodiments 9: In the above embodiment, the manufacturing process included a movement process. In contrast, in other embodiments, the manufacturing process does not have to include a movement process. A case where the manufacturing process does not include a movement process is, for example, when the first workshop and the second workshop are located in the same building, and one manufacturing process is executed consecutively. In this case, after the first adjustment method shown in Figures 5 and 6, the second adjustment method shown in Figures 7 and 8, and the third adjustment method shown in Figures 11 and 12 are not executed, and the first adjustment method is repeatedly executed for each manufacturing process. Even in this configuration, the control systems 1,1a,1v can adjust the actual distance Da between the front vehicle 101 and the rear vehicle 102 to a target distance Dg according to the work content of the manufacturing process.
[0122] D-10. Other Embodiments 10: In the first and second embodiments described above, the remote control devices 5 and 5a perform the processing from acquiring vehicle position information to generating a driving control signal. In contrast, the vehicle 10 may perform at least a part of the processing from acquiring vehicle position information to generating a driving control signal. For example, the following forms (1) to (3) may also be used.
[0123] (1) The remote control devices 5, 5a may acquire vehicle position information, determine the next target location that the vehicle 10 should head to, and generate a route from the vehicle 10's current location, as shown in the acquired vehicle position information, to the target location. The remote control devices 5, 5a may generate a route to the target location between the current location and the destination, or they may generate a route to the destination. The remote control devices 5, 5a may transmit the generated route to the vehicle 10. The vehicle 10 may generate a driving control signal so that the vehicle 10 travels along the route received from the remote control devices 5, 5a, and may use the generated driving control signal to control the actuator group 29.
[0124] (2) The remote control devices 5, 5a may acquire vehicle position information and transmit the acquired vehicle position information to the vehicle 10. The vehicle 10 may determine the next target location to which it should go, generate a route from the vehicle 10's current location shown in the received vehicle position information to the target location, generate a driving control signal so that the vehicle 10 travels along the generated route, and control the actuator group 29 using the generated driving control signal.
[0125] (3) In the embodiments of (1) and (2) above, the vehicle 10 is equipped with internal sensors, and detection results output from the internal sensors may be used in at least one of the generation of a route and the generation of a driving control signal. Internal sensors may include, for example, sensors that detect the motion state of the vehicle 10, sensors that detect the operating state of each part of the vehicle 10, and sensors that detect the environment around the vehicle 10. Specifically, internal sensors may include, for example, cameras, LiDAR, millimeter-wave radar, ultrasonic sensors, GPS sensors, acceleration sensors, gyro sensors, etc. For example, in the embodiment of (1) above, the remote control devices 5, 5a may acquire detection results from the internal sensors and reflect the detection results from the internal sensors in the route when generating a route. In the embodiment of (1) above, the vehicle 10 may acquire detection results from the internal sensors and reflect the detection results from the internal sensors in the driving control signal when generating a driving control signal. In the embodiment of (2) above, the vehicle 10 may acquire detection results from the internal sensors and reflect the detection results from the internal sensors in the route when generating a route. In the embodiment described in (2) above, the vehicle 10 may acquire the detection results of the internal sensors and reflect the detection results of the internal sensors in the driving control signal when generating the driving control signal.
[0126] D-11. Other Embodiments 11: In the third embodiment described above, the vehicle 10v is equipped with an internal sensor, and the detection result output from the internal sensor may be used in at least one of the generation of the route and the generation of the driving control signal. For example, the vehicle 10v may acquire the detection result from the internal sensor and reflect the detection result from the internal sensor in the route when generating the route. The vehicle 10v may acquire the detection result from the internal sensor and reflect the detection result from the internal sensor in the driving control signal when generating the driving control signal.
[0127] D-12. Other Embodiments 12: In the third embodiment described above, the vehicle 10v acquires vehicle position information using the detection results of an external sensor. In contrast, the vehicle 10v may be equipped with an internal sensor, which acquires vehicle position information using the detection results of the internal sensor, determines the next target location to which the vehicle 10v should go, generates a route from the vehicle 10v's current location to the target location as shown in the acquired vehicle position information, generates a driving control signal for driving along the generated route, and controls the actuator group 29 using the generated driving control signal. In this case, the vehicle 10v can drive without using the detection results of an external sensor at all. The vehicle 10v may also acquire the target arrival time and congestion information from outside the vehicle 10v and reflect the target arrival time and congestion information in at least one of the route and the driving control signal. Furthermore, the functional configuration of the control systems 1, 1a, and 1v may all be provided in the vehicles 10 and 10v. That is, the processing realized by the control systems 1, 1a, and 1v in this disclosure may be realized by the vehicles 10 and 10v alone.
[0128] D-13. Other Embodiments 13: In the first and second embodiments described above, the remote control devices 5 and 5a automatically generate driving control signals to be transmitted to the vehicle 10. In contrast, the remote control devices 5 and 5a may generate driving control signals to be transmitted to the vehicle 10 in accordance with the operations of an external operator located outside the vehicle 10. For example, an external operator may operate a control device that includes a display for displaying captured images output from an external sensor, a steering wheel for remotely controlling the vehicle 10, an accelerator pedal, a brake pedal, and a communication device for communicating with the remote control devices 5 and 5a via wired or wireless communication, and the remote control devices 5 and 5a may generate driving control signals in accordance with the operations applied to the control device.
[0129] D-14. Other Embodiments 14: In the other embodiment 13 described above, the display of the control device may show distance adjustment information for adjusting the distance between vehicles. The distance adjustment information may include, for example, instructions to increase or decrease the actual distance Da according to the target distance Dg by an external operator. The instructions may be, for example, a message directed to the external operator such as "Please increase the distance between vehicles." The distance adjustment information may also include specific numerical information such as the current actual distance Da and the target distance Dg. In this configuration, the control systems 1,1a,1v can adjust the distance between vehicles 10,10v by remote control in response to an external operator's operation.
[0130] D-15. Other Embodiments 15: In the other embodiment 13 described above, the control systems 1,1a,1v may use a correction control signal to drive vehicles 10,10v in order to adjust the actual distance Da between the front vehicle 101 and the rear vehicle 102 to a target distance Dg. The correction control signal is a driving control signal generated by correcting the values of each parameter of the manual control signal. The manual control signal is a driving control signal generated in response to an operation applied to the steering device. For example, the control systems 1,1a,1v set an upper limit for each parameter included in the manual control signal and correct the manual control signal so that the value of each parameter included in the manual control signal is less than or equal to the set upper limit. In this configuration, it is possible to avoid abrupt changes in the driving behavior of vehicles 10,10v when adjusting the distance between vehicles. Alternatively, the control systems 1,1a,1v may set a lower limit for each parameter included in the manual control signal and correct the manual control signal so that the value of each parameter included in the manual control signal is greater than or equal to the set lower limit. In this configuration, the distance between vehicles can be changed efficiently.
[0131] D-16. Other Embodiments 16: In the other embodiment 13 described above, the control systems 1,1a,1v may use alternative control signals to drive vehicles 10,10v in order to adjust the actual distance Da between the front vehicle 101 and the rear vehicle 102 to a target distance Dg. The alternative control signal is a driving control signal used in place of a manual control signal, and is a driving control signal that is automatically generated by the remote control devices 5,5a. In this configuration, if vehicles 10,10v malfunction due to an operational error by an external operator when adjusting the distance between vehicles, the driving of vehicles 10,10v can be supported.
[0132] D-17. Other Embodiments 17: In each of the above embodiments, the vehicles 10 and 10v only need to have a configuration that allows them to move by unmanned operation, and may, for example, be in the form of a platform having the configuration described below. Specifically, in order for the vehicles 10 and 10v to perform the three functions of "driving," "turning," and "stopping" by unmanned operation, they only need to be equipped with at least a vehicle control device 2 and 2v and an actuator group 29. When the vehicles 10 and 10v acquire information from the outside for unmanned operation, they may further be equipped with a vehicle communication device 21. That is, the vehicles 10 and 10v that can move by unmanned operation do not need to have at least some of the interior parts such as the driver's seat and dashboard installed, at least some of the exterior parts such as the bumper and fender installed, and they do not need to have a body shell installed. In this case, the remaining parts such as the body shell may be attached to the vehicle 10,10v before it is shipped from the factory, or the remaining parts such as the body shell may be attached to the vehicle 10,10v after it has been shipped from the factory, while the remaining parts such as the body shell are not attached to the vehicle 10,10v. Each part may be attached from any direction, such as the top, bottom, front, rear, right, or left side of the vehicle 10,10v, and each part may be attached from the same direction or from different directions. The position of the platform may also be determined in the same way as the vehicle 10,10v in the first embodiment.
[0133] D-18. Other Embodiments 18: Vehicle 10,10v may be manufactured by combining multiple modules. A module means a unit composed of multiple parts grouped together according to the part or function of vehicle 10,10v. For example, the platform of vehicle 10,10v may be manufactured by combining a front module that constitutes the front part of the platform, a central module that constitutes the central part of the platform, and a rear module that constitutes the rear part of the platform. The number of modules that make up the platform is not limited to three, and may be two or fewer, or four or more. In addition to, or instead of, the parts that make up the platform may be modularized, as well as parts that make up parts of vehicle 10,10v that are different from the platform. Various modules may also include any exterior parts such as bumpers and grilles, or any interior parts such as seats and consoles. Furthermore, not limited to vehicle 10,10v, any type of mobile body may be manufactured by combining multiple modules. Such modules may be manufactured, for example, by joining multiple parts by welding or fasteners, or by integrally molding at least a part of the parts that make up the module as a single part by casting. A molding technique for integrally molding a single component, especially a relatively large component, is also called gigacast or megacast. For example, the front module, central module, and rear module mentioned above may be manufactured using gigacast.
[0134] D-19. Other Embodiments 19: The use of unmanned operation of the 10,10v vehicle to transport the vehicle is also called "autonomous transport." The configuration for realizing autonomous transport is also called a "vehicle remote control autonomous driving transport system." Furthermore, a production method that uses autonomous transport to produce the 10,10v vehicle is also called "autonomous production." In autonomous production, for example, in a factory that manufactures the 10,10v vehicle, at least a portion of the transport of the 10,10v vehicle is realized by autonomous transport.
[0135] This disclosure is not limited to the embodiments described above, and can be implemented in various configurations without departing from its spirit. For example, the technical features of the embodiments corresponding to the technical features in each form described in the summary of the invention can be replaced or combined as appropriate in order to solve some or all of the above-described problems, or to achieve some or all of the above-described effects. Furthermore, if a technical feature is not described as essential in this specification, it can be deleted as appropriate. [Explanation of Symbols]
[0136] 1,1a,1v…Control system, 2,2v…Vehicle control device, 5,5a…Remote control device, 9…External camera, 10,10v…Vehicle, 21…Vehicle communication device, 22,22v…Vehicle CPU, 23,23v…Vehicle memory unit, 24…Input / output interface, 25…Internal bus of vehicle control device, 26…Type 1 sensor group, 27…Type 2 sensor group, 29…Actuator group, 51…Remote communication unit, 52,52a…Remote CPU, 53,53a…Remote memory unit, 55…Internal bus of remote control device, 101…Front vehicle, 102…Rear vehicle, 211,520…Position acquisition unit, 212,521…Speed calculation unit, 213,522…Actual distance calculation unit, 214,523…Process identification unit, 215,524,524a…Process information acquisition unit, 216,525,525a…Target setting 217, 528, 528a…Signal generation unit, 221…Status acquisition unit, 222…Vehicle transmission unit, 223, 223v…Operation control unit, 260…Type 1 sensor, 261…In-vehicle camera, 262…In-vehicle radar, 263…In-vehicle lidar, 270…Type 2 sensor, 271…Wheel speed sensor, 272…Steering angle sensor, 526…Decision information acquisition unit, 527…Decision unit, 529…Remote transmission unit, 901…First external camera, 902…Second external camera, DB…Target distance database, DM1…Vehicle detection model, DM2…Object detection model, Da…Actual distance, Dg…Target distance, Dn…Next target distance, Ds…Reference distance, PG2, PG2v, PG5, PG5a…Program, R…Track, RG…Imaging range, RG1…First imaging range, RG2…Second imaging range, RR…Reference path
Claims
1. A remote control device for remotely controlling the operation of multiple mobile objects that can be moved by unmanned operation, In a factory, multiple manufacturing processes are performed on multiple of the aforementioned moving bodies during the manufacturing process. The plurality of moving bodies include a forward moving body and a rear moving body that travels behind the forward moving body, The aforementioned remote control device is A process information acquisition unit acquires manufacturing process information, which is information relating to one of the manufacturing processes being performed on the moving body, for at least one of the forward moving body and the backward moving body. A target setting unit sets a target distance between the forward moving body and the backward moving body according to the manufacturing process information, A signal generation unit generates at least one of the following first control signals: a forward first control signal as a control signal defining the movement of the forward moving body, and a backward first control signal as a control signal defining the movement of the backward moving body, in order to make the actual distance between the forward moving body and the backward moving body the target distance. The system includes a transmitting unit that transmits the first control signal to the moving body whose operation is to be controlled, The manufacturing process information includes inter-moving body work information indicating whether or not inter-moving body work is performed in which a worker enters the area between the forward moving body and the rear moving body and performs work, The target setting unit uses the manufacturing process information to set the target distance in the manufacturing process in which the inter-moving body operation is performed to be longer than the target distance in the manufacturing process in which the inter-moving body operation is not performed. The manufacturing process includes a movement process in which the mobile body moves between a first workshop where the first manufacturing process is carried out and a second workshop where the next manufacturing process, which is carried out after the first manufacturing process, The aforementioned remote control device further, The system includes a determination unit that determines whether or not the first manufacturing process has been completed. When the determination unit determines that the first manufacturing process in which the inter-moving body operation is performed has been completed, The target setting unit sets the target distance to a reference distance which is the distance between the forward moving body and the backward moving body that is shorter than the target distance when the inter-moving body operation is being performed. The signal generation unit generates at least one of the following second control signals: a forward second control signal as the control signal that defines the movement of the forward moving body, and a backward second control signal as the control signal that defines the movement of the backward moving body, in order to make the actual distance the reference distance as the target distance during the movement process. The transmitting unit transmits the second control signal to the moving object whose operation is to be controlled. The aforementioned inter-mobile operation is an assembly operation in which a communication device capable of communicating with the remote control device is attached to the mobile body. The determination unit determines that the first manufacturing process in which the inter-mobile work is performed has been completed when the remote control device can communicate with the communication-enabled device, and determines that the first manufacturing process in which the inter-mobile work is performed has not been completed when the remote control device cannot communicate with the communication-enabled device.
2. A remote control device according to claim 1, A remote control device that, when the target distance is longer than the actual distance, generates a first backward control signal to cause the backward moving object to perform at least one of a deceleration process that reduces the acceleration in the forward direction and a backward process that moves it backward in the opposite direction to the forward direction.
3. A remote control device according to claim 1, A remote control device that, when the target distance is longer than the actual distance, generates the forward first control signal for the forward moving object to perform an acceleration process that increases the acceleration in the forward direction.
4. A remote control device for remotely controlling the operation of a plurality of mobile bodies that can be moved by unmanned operation, In a factory, multiple manufacturing processes are performed on multiple of the aforementioned moving bodies during the manufacturing process. The plurality of moving bodies include a forward moving body and a rear moving body that travels behind the forward moving body, The aforementioned remote control device is A process information acquisition unit acquires manufacturing process information, which is information relating to one of the manufacturing processes being performed on the moving body, for at least one of the forward moving body and the backward moving body. A target setting unit sets a target distance between the forward moving body and the backward moving body according to the manufacturing process information, A signal generation unit generates at least one of the following first control signals: a forward first control signal as a control signal defining the movement of the forward moving body, and a backward first control signal as a control signal defining the movement of the backward moving body, in order to make the actual distance between the forward moving body and the backward moving body the target distance. The system includes a transmitting unit that transmits the first control signal to the moving body whose operation is to be controlled, The manufacturing process information includes inter-moving body work information indicating whether or not inter-moving body work is performed in which a worker enters the area between the forward moving body and the rear moving body and performs work, The target setting unit uses the manufacturing process information to set the target distance in the manufacturing process in which the inter-moving body operation is performed to be longer than the target distance in the manufacturing process in which the inter-moving body operation is not performed. The manufacturing process includes a movement process in which the mobile body moves between a first workshop where the first manufacturing process is carried out and a second workshop where the next manufacturing process, which is carried out after the first manufacturing process, The process information acquisition unit further acquires next manufacturing process information, which is information relating to the next manufacturing process. The aforementioned remote control device further, The system includes a determination unit that determines whether or not the first manufacturing process has been completed. When the determination unit determines that the first manufacturing process has been completed, The target setting unit sets the target distance to the next target distance, which is the distance between the forward moving body and the backward moving body according to the next manufacturing process information. The signal generation unit generates at least one of three third control signals: a forward third control signal that defines the movement of the forward moving body, and a backward third control signal that defines the movement of the backward moving body, in order to set the actual distance as the next target distance as the target distance during the movement process. The transmitting unit transmits the third control signal to the moving object whose operation is to be controlled. The aforementioned inter-mobile operation is an assembly operation in which a communication device capable of communicating with the remote control device is attached to the mobile body. The determination unit determines that the first manufacturing process in which the inter-mobile work is performed has been completed when the remote control device can communicate with the communication-enabled device, and determines that the first manufacturing process in which the inter-mobile work is performed has not been completed when the remote control device cannot communicate with the communication-enabled device.
5. A remote control method for remotely controlling the operation of multiple mobile objects that can be moved by unmanned operation using a remote control device, In a factory, multiple manufacturing processes are performed on multiple of the aforementioned moving bodies during the manufacturing process. The plurality of moving bodies include a forward moving body and a rear moving body that travels behind the forward moving body, The remote control method is, A process information acquisition step, which acquires manufacturing process information, which is information relating to one of the manufacturing processes being performed on the moving body, for at least one of the forward moving body and the backward moving body, A target setting step in which a target distance is set between the forward moving body and the backward moving body according to the manufacturing process information, A signal generation step to generate at least one of the following first control signals: a forward first control signal as a control signal defining the movement of the forward moving body, and a backward first control signal as a control signal defining the movement of the backward moving body, in order to make the actual distance between the forward moving body and the backward moving body the target distance; The system includes a transmission step of transmitting the first control signal to the moving body whose operation is to be controlled, The manufacturing process information includes inter-moving body work information indicating whether or not inter-moving body work is performed in which a worker enters the area between the forward moving body and the rear moving body and performs work, The target setting step includes setting the target distance in the manufacturing process in which the inter-moving body operation is performed to be longer than the target distance in the manufacturing process in which the inter-moving body operation is not performed, using the manufacturing process information. The manufacturing process includes a movement process in which the mobile body moves between a first workshop where the first manufacturing process is carried out and a second workshop where the next manufacturing process, which is carried out after the first manufacturing process, The aforementioned remote control method further includes, The system includes a determination step for determining whether or not the first manufacturing step has been completed, If the determination step determines that the first manufacturing process in which the inter-moving body operation is performed has been completed, The target setting step sets the target distance to a reference distance which is the distance between the forward moving body and the backward moving body that is shorter than the target distance when the inter-moving body operation is being performed. The signal generation step generates at least one of two second control signals: a forward second control signal as the control signal that defines the movement of the forward moving body, and a backward second control signal as the control signal that defines the movement of the backward moving body, in order to make the actual distance the reference distance as the target distance in the movement process. The transmission step involves transmitting the second control signal to the moving body whose operation is to be controlled. The aforementioned inter-mobile operation is an assembly operation in which a communication device capable of communicating with the remote control device is attached to the mobile body. The remote control method comprises the determination step of determining that the first manufacturing process in which the inter-mobile work is performed has ended if the remote control device can communicate with the communication-enabled device, and determining that the first manufacturing process in which the inter-mobile work is performed has not ended if the remote control device cannot communicate with the communication-enabled device.
6. A control system for controlling the movement of multiple mobile objects that can be moved by unmanned operation, In a factory, multiple manufacturing processes are performed on multiple of the aforementioned moving bodies during the manufacturing process. The control system is The plurality of moving bodies include a forward moving body and a rearward moving body that travels behind the forward moving body, A process information acquisition unit acquires manufacturing process information, which is information relating to one of the manufacturing processes being performed on the moving body, for at least one of the forward moving body and the backward moving body. A target setting unit sets a target distance between the forward moving body and the backward moving body according to the manufacturing process information, A signal generation unit generates at least one of the following first control signals: a forward first control signal as a control signal defining the movement of the forward moving body, and a backward first control signal as a control signal defining the movement of the backward moving body, in order to make the actual distance between the forward moving body and the backward moving body the target distance. The system comprises an operation control unit that controls the movement of the moving body using the first control signal, The manufacturing process information includes inter-moving body work information indicating whether or not inter-moving body work is performed in which a worker enters the area between the forward moving body and the rear moving body and performs work, The target setting unit uses the manufacturing process information to set the target distance in the manufacturing process in which the inter-moving body operation is performed to be longer than the target distance in the manufacturing process in which the inter-moving body operation is not performed. The manufacturing process includes a movement process in which the mobile body moves between a first workshop where the first manufacturing process is carried out and a second workshop where the next manufacturing process, which is carried out after the first manufacturing process, The control system further includes, The system includes a determination unit that determines whether or not the first manufacturing process has been completed. When the determination unit determines that the first manufacturing process in which the inter-moving body operation is performed has been completed, The target setting unit sets the target distance to a reference distance which is the distance between the forward moving body and the backward moving body that is shorter than the target distance when the inter-moving body operation is being performed. The signal generation unit generates at least one of the following second control signals: a forward second control signal as the control signal that defines the movement of the forward moving body, and a backward second control signal as the control signal that defines the movement of the backward moving body, in order to make the actual distance the reference distance as the target distance during the movement process. The motion control unit controls the movement of the moving body using the second control signal without using the first control signal during the movement process. The aforementioned inter-mobile body operation is an assembly operation in which a communication device capable of communicating with the outside of the mobile body is attached to the mobile body. A control system in which the determination unit determines that the first manufacturing process in which the inter-mobile operation is performed is completed when the communication-enabled device can communicate with the outside of the mobile body, and determines that the first manufacturing process in which the inter-mobile operation is performed is not completed when the communication-enabled device cannot communicate with the outside of the mobile body.
7. A control system according to claim 6, A control system in which, when the target distance is longer than the actual distance, the signal generation unit generates a first backward control signal to cause the backward moving body to perform at least one of a deceleration process that reduces the acceleration in the forward direction and a backward process that moves it backward in the opposite direction to the forward direction.
8. A control system according to claim 6, A control system in which, when the target distance is longer than the actual distance, the signal generation unit generates the forward first control signal to cause the forward moving body to perform an acceleration process that increases the acceleration in the forward direction.
9. A control system for controlling the operation of a plurality of mobile bodies that can be moved by unmanned operation, In a factory, multiple manufacturing processes are performed on multiple of the aforementioned moving bodies during the manufacturing process. The control system is The plurality of moving bodies include a forward moving body and a rearward moving body that travels behind the forward moving body, A process information acquisition unit acquires manufacturing process information, which is information relating to one of the manufacturing processes being performed on the moving body, for at least one of the forward moving body and the backward moving body. A target setting unit sets a target distance between the forward moving body and the backward moving body according to the manufacturing process information, A signal generation unit generates at least one of the following first control signals: a forward first control signal as a control signal defining the movement of the forward moving body, and a backward first control signal as a control signal defining the movement of the backward moving body, in order to make the actual distance between the forward moving body and the backward moving body the target distance. The system comprises an operation control unit that controls the movement of the moving body using the first control signal, The manufacturing process information includes inter-moving body work information indicating whether or not inter-moving body work is performed in which a worker enters the area between the forward moving body and the rear moving body and performs work, The target setting unit uses the manufacturing process information to set the target distance in the manufacturing process in which the inter-moving body operation is performed to be longer than the target distance in the manufacturing process in which the inter-moving body operation is not performed. The manufacturing process includes a movement process in which the mobile body moves between a first workshop where the first manufacturing process is carried out and a second workshop where the next manufacturing process, which is carried out after the first manufacturing process, The process information acquisition unit further acquires next manufacturing process information, which is information relating to the next manufacturing process. The control system further includes, The system includes a determination unit that determines whether or not the first manufacturing process has been completed. When the determination unit determines that the first manufacturing process has been completed, The target setting unit sets the target distance to the next target distance, which is the distance between the forward moving body and the backward moving body according to the next manufacturing process information. The signal generation unit generates at least one of three third control signals: a forward third control signal that defines the movement of the forward moving body, and a backward third control signal that defines the movement of the backward moving body, in order to set the actual distance as the next target distance as the target distance during the movement process. The motion control unit controls the movement of the moving body using the third control signal without using the first control signal during the movement process. The aforementioned inter-mobile body operation is an assembly operation in which a communication device capable of communicating with the outside of the mobile body is attached to the mobile body. A control system in which the determination unit determines that the first manufacturing process in which the inter-mobile operation is performed is completed when the communication-enabled device can communicate with the outside of the mobile body, and determines that the first manufacturing process in which the inter-mobile operation is performed is not completed when the communication-enabled device cannot communicate with the outside of the mobile body.
10. It is a mobile object, The mobile body is capable of moving unmanned within a factory where multiple manufacturing processes are carried out in the manufacturing process for producing the mobile body. The aforementioned mobile body is equipped with a mobile body control device that controls the movement of the mobile body itself, The aforementioned mobile device control device is A process information acquisition unit acquires manufacturing process information which is information relating to one of the manufacturing processes being performed on at least one of the self-moving body and another self-moving body which moves in at least one of the forward and backward directions of the self-moving body, A target setting unit sets a target distance between the self-moving body and the other moving body according to the manufacturing process information, A signal generation unit generates a first control signal as a control signal that defines the movement of the self-moving body, in order to make the actual distance between the self-moving body and the other moving body the target distance, The system includes an operation control unit that controls the operation of the self-moving body using the first control signal, The manufacturing process information includes inter-mobile body work information indicating whether or not inter-mobile body work is performed in which a worker enters the area between the self-mobile body and the other mobile body and performs work. The target setting unit uses the manufacturing process information to set the target distance in the manufacturing process in which the inter-moving body operation is performed to be longer than the target distance in the manufacturing process in which the inter-moving body operation is not performed. The manufacturing process includes a movement process in which the mobile body moves between a first workshop where the first manufacturing process is carried out and a second workshop where the next manufacturing process, which is carried out after the first manufacturing process, The aforementioned mobile device control device further includes: The system includes a determination unit that determines whether or not the first manufacturing process has been completed. When the determination unit determines that the first manufacturing process in which the inter-moving body operation is performed has been completed, The target setting unit sets the target distance to a reference distance which is the distance between the self-moving body and the other moving body that is shorter than the target distance when the inter-moving body operation is being performed. The signal generation unit generates a second control signal as the control signal that defines the operation of the moving body, in order to make the actual distance the reference distance as the target distance during the movement process. The motion control unit controls the movement of the moving body using the second control signal without using the first control signal during the movement process. The aforementioned inter-mobile body operation is an assembly operation in which a communication device capable of communicating with the outside of the mobile body is attached to the mobile body. The determination unit determines that the first manufacturing process in which the inter-mobile operation is performed is completed when the communication-enabled device can communicate with the outside of the mobile body, and determines that the first manufacturing process in which the inter-mobile operation is performed is not completed when the communication-enabled device cannot communicate with the outside of the mobile body.
11. A mobile body according to claim 10, In the case where the target distance is longer than the actual distance, and the self-moving body is moving behind the other moving body, the signal generation unit generates the first control signal causing the self-moving body to perform at least one of a deceleration process that reduces the acceleration in the forward direction and a reversing process that moves it backward in the opposite direction to the forward direction.
12. A mobile body according to claim 10, When the target distance is longer than the actual distance, and the self-moving body is moving in front of the other moving body, the signal generation unit generates the first control signal to cause the self-moving body to perform an acceleration process that increases the acceleration in the forward direction.
13. A mobile body, The mobile body is capable of moving unmanned within a factory where multiple manufacturing processes are carried out in the manufacturing process for producing the mobile body. The aforementioned mobile body is equipped with a mobile body control device that controls the movement of the mobile body itself, The aforementioned mobile device control device is A process information acquisition unit acquires manufacturing process information which is information relating to one of the manufacturing processes being performed on at least one of the self-moving body and another self-moving body which moves in at least one of the forward and backward directions of the self-moving body, A target setting unit sets a target distance between the self-moving body and the other moving body according to the manufacturing process information, A signal generation unit generates a first control signal as a control signal that defines the movement of the self-moving body, in order to make the actual distance between the self-moving body and the other moving body the target distance, The system includes an operation control unit that controls the operation of the self-moving body using the first control signal, The manufacturing process information includes inter-mobile body work information indicating whether or not inter-mobile body work is performed in which a worker enters the area between the self-mobile body and the other mobile body and performs work. The target setting unit uses the manufacturing process information to set the target distance in the manufacturing process in which the inter-moving body operation is performed to be longer than the target distance in the manufacturing process in which the inter-moving body operation is not performed. The manufacturing process includes a movement process in which the mobile body moves between a first workshop where the first manufacturing process is carried out and a second workshop where the next manufacturing process, which is carried out after the first manufacturing process, The process information acquisition unit further acquires next manufacturing process information, which is information relating to the next manufacturing process. The aforementioned mobile device control device further includes: The system includes a determination unit that determines whether or not the first manufacturing process has been completed. When the determination unit determines that the first manufacturing process has been completed, The target setting unit sets the target distance to the next target distance, which is the distance between the self-moving body and the other moving body according to the next manufacturing process information. The signal generation unit generates a third control signal that defines the operation of the moving body in order to set the actual distance as the next target distance during the movement process. The motion control unit controls the movement of the moving body using the third control signal without using the first control signal during the movement process. The aforementioned inter-mobile body operation is an assembly operation in which a communication device capable of communicating with the outside of the mobile body is attached to the mobile body. The determination unit determines that the first manufacturing process in which the inter-mobile operation is performed is completed when the communication-enabled device can communicate with the outside of the mobile body, and determines that the first manufacturing process in which the inter-mobile operation is performed is not completed when the communication-enabled device cannot communicate with the outside of the mobile body.
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