Control method, nonvolatile recording medium, mobile body system, and component mounting system

Abstract

The present disclosure provides a control method, a nonvolatile recording medium, a mobile body system, and a component mounting system, and aims to improve the accuracy of position adjustment of a mobile body. The control method has a first rotation step and a second rotation step. The first rotation step is a step of controlling a plurality of drive wheels (2) so that the mobile body (1) rotates with a position (P1) in the first detection range overlapping the track (L1) as a center of rotation, from a state in which the first detection range and the track (L1) overlap, until a state in which the second sensor detects that the first target position (T1) in the second detection range has the track (L1). The second rotation step is a step of controlling the plurality of drive wheels (2) so that the mobile body (1) rotates with the first target position (T1) as a center of rotation, after the first rotation step, until a state in which the third sensor detects that the second target position (T2) in the third detection range has the track (L1).

Description

TECHNICAL FIELD

[0001] The present disclosure relates generally to a control method, a non-transitory recording medium, a mobile body system, and a component mounting system, and more particularly to a control method, a non-transitory recording medium, a mobile body system, and a component mounting system that use a mobile body that moves on a moving surface. BACKGROUND

[0002] An unmanned carrier (mobile body) is disclosed in Document 1 (JP 2002-039786 A). The unmanned carrier is provided with two steering wheels (drive wheels) that rotate by driving of a travel motor. The unmanned carrier moves in a desired moving direction by rotating the two steering wheels using a steering motor. SUMMARY

[0003] PROBLEMS TO BE SOLVED BY THE INVENTION

[0004] An object of the present disclosure is to provide a control method, a non-transitory recording medium, a mobile body system, and a component mounting system that can improve the accuracy of position adjustment of a mobile body.

[0005] MEANS FOR SOLVING THE PROBLEMS

[0006] One embodiment of the present disclosure relates to a control method of a mobile body that moves on a moving surface. The mobile body has a plurality of sensors and a plurality of drive wheels. A first sensor selected from the plurality of sensors detects a position of a track in a first detection range when the first detection range and the track overlap. The track is provided on the moving surface to guide the mobile body. A second sensor selected from the plurality of sensors and different from the first sensor detects a position of the track in a second detection range when the second detection range and the track overlap. A third sensor selected from the plurality of sensors and different from the second sensor detects a position of the track in a third detection range when the third detection range and the track overlap. The control method has a first turning step and a second turning step. The first turning step is a step of controlling the plurality of drive wheels such that the mobile body turns with a position in the first detection range that overlaps with the track as a turning center, from a state in which the first detection range and the track overlap, until the second sensor detects a state in which the track is present at a first target position in the second detection range. The second turning step is a step of controlling the plurality of drive wheels such that the mobile body turns with the first target position as a turning center, after the first turning step, until the third sensor detects a state in which the track is present at a second target position in the third detection range.

[0007] The program according to one embodiment of the present disclosure is a program for causing one or more processors to execute the control method.

[0008] The nonvolatile recording medium according to one embodiment of the present disclosure is a nonvolatile recording medium in which a program for causing one or more processors to execute the control method is recorded.

[0009] The mobile body system according to one embodiment of the present disclosure includes a mobile body and a control portion. The mobile body includes a plurality of sensors and a plurality of drive wheels. The control portion controls the plurality of drive wheels to move the mobile body on a movement plane. A first sensor selected from the plurality of sensors detects a position of a track within a first detection range when the first detection range overlaps the track. The track is provided on the movement plane to guide the mobile body. A second sensor selected from the plurality of sensors and different from the first sensor detects the position of the track within a second detection range when the second detection range overlaps the track. A third sensor selected from the plurality of sensors and different from the second sensor detects the position of the track within a third detection range when the third detection range overlaps the track. The control portion executes a first rotation step and a second rotation step. The first rotation step is a step of controlling the plurality of drive wheels such that the mobile body rotates with a position in the first detection range overlapping the track as a center of rotation, from a state in which the first detection range overlaps the track, until the second sensor detects a first target position within the second detection range in a state in which the track is present. The second rotation step is a step of controlling the plurality of drive wheels such that the mobile body rotates with the first target position as the center of rotation, after the first rotation step, until the third sensor detects a second target position within the third detection range in a state in which the track is present.

[0010] The component mounting system according to one embodiment of the present disclosure includes the mobile body system and at least one component mounting apparatus. The component mounting apparatus mounts a component on a board. The component mounting apparatus includes a component supply device that supplies the component, and a mounting body that includes a mounting head. The mounting head mounts the component supplied from the component supply device on the board. The component supply device is transported to the mounting body by the mobile body of the mobile body system moving along the track.

[0011] Effects of Invention

[0012] The present disclosure has an advantage that the accuracy of position adjustment of a mobile body can be improved. BRIEF DESCRIPTION OF DRAWINGS

[0013] Figure 1 is a block diagram of a control system including a mobile body system according to an embodiment.

[0014] Figure 2 is a plan view of a component mounting system including the above-described mobile body system.

[0015] Figure 3 is a flowchart showing an example of the operation of the above-described mobile body system.

[0016] Figure 4 is a plan view showing the state at the start time point of the turning operation of the above-described mobile body system.

[0017] Figure 5 is a plan view showing the state at the halfway point of the turning operation of the above-described mobile body system.

[0018] Figure 6 is a plan view showing the state at the halfway point of the turning operation of the above-described mobile body system.

[0019] Figure 7 is a plan view showing the state at the halfway point of the turning operation of the above-described mobile body system.

[0020] Figure 8 is a plan view showing the state at the halfway point of the turning operation of the above-described mobile body system.

[0021] Figure 9 is a plan view showing the state at the end time point of the turning operation of the above-described mobile body system.

[0022] Figure 10 is a plan view showing an example of the operation of the above-described mobile body system.

[0023] Figure 11 is a plan view showing an example of the operation of the above-described mobile body system.

[0024] Figure 12 is a plan view showing an example of the operation of the mobile body system according to Modification 1.

[0025] Figure 13 is a plan view showing an example of the operation of the mobile body system according to Modification 2.

[0026] Figure 14 is a plan view showing an example of the operation of the mobile body system according to Modification 3.

[0027] Symbol explanation

[0028] 1 mobile body

[0029] 2 drive wheel

[0030] 4, 122 sensor

[0031] 8 mounting body

[0032] 9 component mounting apparatus

[0033] 10 mobile body system

[0034] 11 conveyance device

[0035] 12 conveyance object

[0036] 51 control section

[0037] 123 front end

[0038] A1 object detection area

[0039] A10 conveyance device area

[0040] A20 conveyance object area

[0041] B1 movement surface

[0042] D1, D2 direction of rotation

[0043] F1 component supply device

[0044] L1 track

[0045] P1 position

[0046] T1 first target position

[0047] T2 second target position DETAILED DESCRIPTION

[0048] (Embodiments)

[0049] Hereinafter, a control method, a program, a mobile body system, and a component mounting system according to an embodiment will be described with reference to the drawings. However, the following embodiment is only one of various embodiments of the present disclosure. The following embodiment can be variously changed according to design, etc., as long as the purpose of the present disclosure is achieved. Further, each drawing described in the following embodiment is a schematic drawing, and the size and the ratio of the thickness of each constituent element in the drawing do not necessarily reflect the actual size ratio.

[0050] (Summary)

[0051] The control method according to the present embodiment is implemented by a control system 100 (refer to Fig. 1). As shown in Fig. 1, the control system 100 is provided with a mobile body system 10 and a superior system 7. The mobile body system 10 is provided with a mobile body 1. The mobile body 1 moves on a movement surface B1 (refer to Fig. 2). Figure 1 Figure 1 Figure 2 ​​) moves. The control method is a method for controlling the mobile body 1 so that the mobile body 1 (refer to Figure 2 ) tracks the track LI (refer to Figure 2 ).

[0052] The mobile body 1 is introduced, for example, to a facility such as a logistics center (including a distribution center), a factory, an office, a store, a school, or a hospital. The moving surface Bl is a surface on which the mobile body 1 moves. When the mobile body 1 moves indoors, the floor surface or the like of the facility corresponds to the moving surface Bl, and when the mobile body 1 moves outdoors, the ground surface or the like corresponds to the moving surface Bl. Hereinafter, a case in which the mobile body 1 is introduced to a factory will be described. Note that in the drawings other than Figure 2 , the illustration of the moving surface Bl is omitted.

[0053] The control method of the present embodiment is a control method of the mobile body 1 that moves on the moving surface Bl. As shown in Figure 2 , the mobile body 1 has a plurality of sensors 4 and a plurality of drive wheels 2. A first sensor selected from the plurality of sensors 4 detects the position of the track LI within a first detection range when the first detection range overlaps the track LI. The track LI is provided on the moving surface Bl for guiding the mobile body 1. A second sensor different from the first sensor selected from the plurality of sensors 4 detects the position of the track LI within a second detection range when the second detection range overlaps the track LI. A third sensor different from the second sensor selected from the plurality of sensors 4 detects the position of the track LI within a third detection range when the third detection range overlaps the track LI.

[0054] As shown in Figure 3 , the control method has a first turning step (step ST4) and a second turning step (step ST7). The first turning step is a step of controlling the plurality of drive wheels 2 so that the mobile body 1 turns with a position PI (refer to Figure 4 ) in the first detection range, at which the first detection range overlaps the track LI, as a turning center, from a state in which the first detection range overlaps the track LI until a state in which the second sensor detects a first target position Tl (refer to Figure 4 ) within the second detection range, at which the track LI is present. The second turning step is a step of controlling the plurality of drive wheels 2 so that the mobile body 1 turns with the first target position Tl as a turning center after the first turning step until a state in which the third sensor detects a second target position T2 (refer to Figure 4 ) within the third detection range, at which the track LI is present.

[0055] According to the control method of the present embodiment, the position of the mobile body 1 is adjusted by the first turning step, and then the position of the mobile body 1 is finely adjusted by the second turning step. Thus, compared to a case where the position of the mobile body 1 is adjusted by only one turning, the accuracy of the position adjustment of the mobile body 1 with respect to the track L1 can be improved.

[0056] In the first turning step, the positional relationship between the second sensor and the track L1 is adjusted. In the second turning step, the positional relationship between the third sensor and the track L1 is adjusted. By executing both the first turning step and the second turning step, the orientation of the mobile body 1 is also adjusted to the desired orientation.

[0057] In the present disclosure, the mobile body 1 "turns" means both the mobile body 1 changes the orientation while advancing or retreating, and the mobile body 1 changes the orientation without advancing or retreating. In the first turning step and the second turning step, the mobile body 1 changes the orientation without advancing or retreating.

[0058] The above-described control method can also be implemented by a (computer) program, or a non-transitory recording medium on which the program is recorded, and the like. One way involves a program for causing one or more processors to execute the above-described control method.

[0059] Further, as shown in Figure 1 , Figure 2 The mobile body system 10 has the mobile body 1 and the control section 51. The mobile body 1 has the plurality of sensors 4 and the plurality of drive wheels 2. The control section 51 controls the plurality of drive wheels 2 to move the mobile body 1 on the movement surface B1. The first sensor selected from the plurality of sensors 4 detects the position of the track L1 within the first detection range when the first detection range overlaps the track L1. The track L1 is provided on the movement surface B1 to guide the mobile body 1. The second sensor selected from the plurality of sensors 4 and different from the first sensor detects the position of the track L1 within the second detection range when the second detection range overlaps the track L1. The third sensor selected from the plurality of sensors 4 and different from the second sensor detects the position of the track L1 within the third detection range when the third detection range overlaps the track L1. The control section 51 executes the above-described first turning step and the second turning step.

[0060] According to the mobile body system 10 of the present embodiment, the accuracy of the position adjustment of the mobile body 1 with respect to the track L1 can be improved.

[0061] As shown in Figure 2 The mobile body system 10 is used for a component mounting system 90. That is, the component mounting system 90 has the mobile body system 10. Further, the component mounting system 90 also has at least one (in Figure 2The component mounting apparatus 9 mounts components on a substrate. The component mounting apparatus 9 has a component supply device Fl and a mounting body 8. The component supply device Fl supplies components. The mounting body 8 includes a mounting head that mounts components supplied from the component supply device Fl on a substrate. The component supply device Fl is carried to the mounting body 8 by the movement body 1 of the movement body system 10 moving along the track LI.

[0062] By employing the movement body system 10 in the component mounting system 90, the movement body 1 easily carries the component supply device Fl to the mounting body 8.

[0063] (Details)

[0064] (1) Overall Configuration

[0065] Hereinafter, the control system 100 related to the present embodiment will be described with reference to Figure 1 and Figure 2 The control system 100 will be described.

[0066] The control system 100 has, in addition to the movement body system 10 and the superior system 7, a relay device Rl and the above-described component mounting apparatus 9.

[0067] (2) Movement Body System

[0068] (2.1) Outline of Movement Body System

[0069] The movement body 1 of the movement body system 10 moves on a movement surface Bl, and a control section 51 of the movement body system 10 controls the movement of the movement body 1. The control section 51 can also be a part of the movement body 1. Alternatively, the devices that constitute the movement body 1 and the devices that constitute the control section 51 can exist separately, and the movement of the movement body 1 is controlled by the control section 51 by the two communicating with each other. In the present embodiment, the control section 51 is a part of the movement body 1. That is, the control section 51 is mounted on the main body 30 of the movement body 1. The movement body system 10 is constituted only by the movement body 1. The movement body 1 includes a carrying object 12 and a carrying device 11.

[0070] As shown in Figure 2 , the carrying device 11 has the main body 30 and a plurality of (two in Figure 2 , driving wheels 2. The plurality of driving wheels 2 are held to the main body 30. The plurality of driving wheels 2 include a first wheel 21 and a second wheel 22. That is, the movement body 1 is configured to move on the movement surface Bl by the two driving wheels 2.

[0071] Here, the orientation of the first round 21 and the second round 22 is defined as the left-right direction of the moving body 1. Furthermore, the side where the second round 22 is located when viewed from the first round 21 is defined as "right," and the side where the first round 21 is located when viewed from the second round 22 is defined as "left." Additionally, the direction of gravity is defined as "downward," and the direction opposite to gravity is defined as "upward." Furthermore, the direction orthogonal to both the left-right and up-down directions is defined as the "front-back direction." Figure 2 The crosshairs in the diagram indicate the "front", "back", "left" and "right" of the moving object 1. Figure 2 These arrows in the diagram are merely symbolic for illustrative purposes and do not represent any actual objects.

[0072] In addition, Figure 2 In the drawing, multiple drive wheels 2 are depicted with solid lines, but in reality, these multiple drive wheels 2 are obscured by the main body 30. Furthermore, in Figure 2 In the figure, track L1 is drawn with a solid line, but in reality, the part of track L1 that overlaps with the moving body 1 is obscured by the moving body 1.

[0073] The conveying item 12 has a conveying item body 120 and multiple (in) Figure 2 There are four wheels 121 in total. The multiple wheels 121 are held in place by the main body 120 for transporting goods. The multiple wheels 121 are driven wheels.

[0074] Furthermore, the conveyed object 12 preferably has a sensor 122. The sensor 122 is a sensor that is separately arranged from the four sensors 4 mounted on the main body 30. The sensor 122 is held on the conveyed object body 120.

[0075] The main body 120 of the transported item is held on the main body 30. The main body 30 has a connecting part 301 for connecting the transported item 12. The connecting part 301 is provided on a surface of the main body 30 that is orthogonal to the front-back direction. The connecting part 301 is, for example, a hook, and is a structure capable of hooking a part of the transported item 12. The transported item 12 is located behind the transport device 11.

[0076] The transport device 11 is an unmanned transport vehicle used to transport the transported item 12, autonomously driving it to its destination while carrying the transported item 12. In this embodiment, the upper-level system 7 communicates with the transport device 11 via network NT1 and relay device R1, indirectly controlling the movement of the transport device 11. The transport device 11 can, for example, transport the transported item 12 placed in one location to another location by dragging, carrying, or pushing it.

[0077] The component supply device F1 is fixed to the conveyance object 12. The conveyance object 12 is a pallet for conveying the component supply device F1 to a destination. In addition, the conveyance object 12 and the component supply device F1 can be fixed in a separable manner or in a non-separable manner.

[0078] The conveyance device 11, in addition to the main body 30 and the plurality of drive wheels 2, as shown in Figure 1 illustrated, further includes a plurality of (four in the present embodiment) sensors 4, a control section 51, a left drive wheel unit 52, a right drive wheel unit 53, a first communication section 54, an object detection section 55, a first storage section 56, and a power supply 57. Figure 1

[0079] (2.2) Sensors

[0080] Each sensor 4 detects the track L1. The "track" referred to in the present disclosure defines a movement path of the mobile body 1 when the mobile body 1 moves to a destination. In the present embodiment, the track L1 is provided to a movement surface B1 on which the mobile body 1 moves. Specifically, the track L1 is a linear object such as a magnetic tape or a magnetic marker provided to the movement surface B1. The mobile body system 10 controls the mobile body 1 so that the mobile body 1 traces the track L1 based on detection results of the track L1 by the plurality of sensors 4 mounted to the mobile body 1. Thus, the mobile body 1 can move to a destination while tracing the track L1. In addition, the "tracing the track" can include a case where the mobile body 1 moves along the track L1 without overlapping the track L1, in addition to a case where the mobile body 1 moves on the track L1.

[0081] Hereinafter, the four sensors 4 are sometimes distinguished and referred to as sensors 41, 42, 43, and 44, respectively.

[0082] Each sensor 4 is, for example, a magnetic sensor. Each sensor 4 has a bar shape. Each sensor 4 acquires a relative positional relationship between the sensor 4 and the track L1, that is, information about a positional offset of the sensor 4 with respect to the track L1, by detecting a magnetic flux generated from the track L1.

[0083] ​Each sensor 4 includes, for example, an array in which a plurality of elements are arranged in a line. Each element detects a magnetic flux, and the control section 51 processes the detection result, whereby the relative positional relationship (positional deviation) of the sensor 4 and the track LI can be determined. Specifically, the control section 51 determines the position of the track LI within the detection range of the sensor 4 when the detection range of the sensor 4 and the track LI overlap. That is, the sensor 4 detects whether the detection range of the sensor 4 and the track LI overlap, and in the case of overlap, which position within the detection range overlaps. In the present embodiment, the detection range of the sensor 4 corresponds to a region of the sensor 4 that is more inward than the outer edge, as viewed from above. In other words, the detection range of the sensor 4 substantially coincides with the region of the sensor 4 that is more inward than the outer edge, as viewed from above. In addition, the sensor 122 provided to the conveyance object 12 also has the same function as the sensor 4.

[0084] The sensors 41, 42 have lengths in the left-right direction. The sensors 43, 44 have lengths in the front-rear direction.

[0085] The sensor 41 is provided at the front end of the main body 30. The sensor 42 is provided at the rear end of the main body 30. The sensor 42 is provided rearward of the sensor 41. The sensors 43, 44 are provided between the first wheel 21 and the second wheel 22. The sensor 43 is provided between the center of the main body 30 and the first wheel 21. The sensor 44 is provided between the center of the main body 30 and the second wheel 22.

[0086] (2.3) Control Section

[0087] The control section 51 includes a computer system having one or more processors and a memory. The one or more processors realize the functions of the control section 51 by executing a program recorded in the memory. The program can be recorded in the memory in advance, can be provided through an electric communication line such as the Internet, or can be recorded in a nonvolatile recording medium such as a memory card.

[0088] As shown in FIG. 2, the control section 51 has a travel control section 511, a region setting section 512, and a position calculation section 513. Note that they merely indicate the functions realized by the control section 51, and do not necessarily indicate a physical structure. Figure 1

[0089] The travel control section 511 controls the movement of the plurality of drive wheels 2. More specifically, the travel control section 511 controls the movement of the plurality of drive wheels 2 by controlling the left drive wheel unit 52 and the right drive wheel unit 53.

[0090] The region setting section 512 determines the boundary line of the object detection region Al (refer to FIG. 1) described later. Figure 10

[0091] ​​The position calculating section 513 determines the position of the track L1 within the detection range of the sensor 4 based on the detection result of the plurality of sensors 4.

[0092] (2.4) Left and right drive wheel units

[0093] The left drive wheel unit 52 is a control unit that controls the rotation of the first wheel 21 and the rudder angle. The left drive wheel unit 52 has a drive motor 521 that rotates the first wheel 21, and a steering motor 522 that changes the orientation (direction of rotation) of the first wheel 21. The left drive wheel unit 52 receives a control command from the travel control section 511. Then, the steering motor 522 changes the first wheel 21 to the orientation indicated by the control command, and the drive motor 521 rotates the first wheel 21 at the rotational torque indicated by the control command. In addition, the left drive wheel unit 52 receives a control command from the travel control section 511, and controls the rotational speed of the first wheel 21 to be below the upper limit value indicated from the travel control section 511.

[0094] The "rudder angle" referred to in the present disclosure refers to the angle formed by the front-rear direction of the mobile body 1 and the direction of rotation of the drive wheel 2 in the plan view of the mobile body 1 viewed from above. The rudder angle of each drive wheel 2 can be changed from -180 degrees to 180 degrees.

[0095] The right drive wheel unit 53 is a control unit that controls the rotation of the second wheel 22 and the rudder angle. The right drive wheel unit 53 has a drive motor 531 that rotates the second wheel 22, and a steering motor 532 that changes the orientation (direction of rotation) of the second wheel 22. The right drive wheel unit 53 receives a control command from the travel control section 511. Then, the steering motor 532 changes the second wheel 22 to the orientation indicated by the control command, and the drive motor 531 rotates the second wheel 22 at the rotational torque indicated by the control command. In addition, the right drive wheel unit 53 receives a control command from the travel control section 511, and controls the rotational speed of the second wheel 22 to be below the upper limit value indicated from the travel control section 511.

[0096] (2.5) First communication section

[0097] The first communication section 54 is capable of communicating with the superior system 7 (the second communication section 72 of the superior system 7). By "capable of communicating" in the present disclosure, it is meant that information can be transmitted and received directly or indirectly via a network NT1 or a relay device R1 or the like by an appropriate communication method of wired communication or wireless communication. In the present embodiment, the first communication section 54 communicates with the relay device R1 by a wireless communication method, and communicates with the superior system 7 via the network NT1.

[0098] (2.6) Object detection section

[0099] The object detection section 55 detects the presence or absence of an object in an object detection area Al (see FIG. 1) provided around the mobile body 1. The object detection section 55 includes, for example, an image sensor (camera), a sonar sensor, a radar, a LiDAR (Light Detection and Ranging), and the like, and detects the presence or absence of an object in the object detection area Al by using these sensors. Figure 10

[0100] Further, the conveyance device 11 includes a travel detection section 550. In the present embodiment, the travel detection section 550 functions as the object detection section 55. The travel detection section 550 obtains the current position of the main body 30 and the surrounding situation. The travel detection section 550 obtains the current position, for example, based on detection information of an object around the mobile body 1 by using a LiDAR and electronic map information of a block in which the mobile body 1 travels. Alternatively, the travel detection section 550 can obtain the current position by using an LPS (Local Positioning System) using a radio beacon. Alternatively, the travel detection section 550 can obtain the current position by using a satellite positioning system such as a GPS (Global Positioning System).

[0101] Further, the travel detection section 550 can detect the state of movement of the mobile body 1 and the like. The state of movement of the mobile body 1 can include the remaining capacity of a battery of a power supply 57 possessed by the mobile body 1, a state indicating whether the mobile body 1 is moving or stopping, the speed (and the change in speed) of the mobile body 1, the acceleration of the mobile body 1, and the posture of the mobile body 1. The travel detection section 550 includes, for example, a speed sensor, an acceleration sensor, a gyro sensor, and the like, and detects the state of movement of the mobile body 1 by using these sensors.

[0102] The mobile body 1 can not only track the track LI and move thereon, but also move while deviating from the track LI with reference to the information of the current position and the state of movement and the like.

[0103] (2.7) First storage section

[0104] ​The first storage section 56 includes, for example, a semiconductor memory such as a nonvolatile memory. The first storage section 56 stores setting information of the object detection region Al set around the mobile body 1 and the like. In the present embodiment, the region setting section 512 changes at least one of the shape and the size of the object detection region Al according to the travel state of the mobile body 1. The first storage section 56 stores a plurality of region data indicating a plurality of region candidates different in range from each other. The region data is constituted by, for example, coordinate data indicating the range of the region candidate on an XY coordinate plane with the center position of the main body 30 of the mobile body 1 as the origin and orthogonal to the up-down direction. The region data of the plurality of region candidates can be stored in the first storage section 56 in advance, or the region data of the plurality of region candidates received from the superior system 7 can be stored in the first storage section 56.

[0105] (2.8) Power supply

[0106] The power supply 57 is, for example, a storage battery. The mobile body 1 operates using electric power accumulated in the storage battery.

[0107] (3) Superior system

[0108] The mobile body 1 is capable of communicating with the superior system 7. In the present embodiment, the superior system 7 and the mobile body 1 are capable of communicating in both directions. That is, both transmission of information from the superior system 7 to the mobile body 1 and transmission of information from the mobile body 1 to the superior system 7 are possible.

[0109] In the facility, there can be a plurality of mobile body systems 10. That is, in the facility, there can be a plurality of mobile bodies 1. The superior system 7 is a system for comprehensively controlling a plurality of mobile bodies 1, and is realized by, for example, a server device. The superior system 7 instructs the plurality of mobile body systems 10 respectively, thereby indirectly controlling the plurality of mobile bodies 1.

[0110] The superior system 7 has a processing section 71, a second communication section 72, and a second storage section 73.

[0111] The processing section 71 includes a computer system having one or more processors and a memory. The one or more processors realize the functions of the processing section 71 by executing a program recorded in the memory. The program can be recorded in the memory in advance, can be provided through an electric communication line such as the Internet, or can be recorded in a nonvolatile recording medium such as a memory card.

[0112] The processing section 71 is configured to perform overall control of the superior system 7. Further, the processing section 71 transmits a conveyance instruction instructing conveyance of the conveyance object 12 to the mobile body 1 that is the control target from the second communication section 72.

[0113] The second communication unit 72 communicates with the mobile unit 1 (the first communication unit 54 of the mobile unit 1) via the network NT1 and the relay device R1.

[0114] The second storage unit 73 stores map information, etc., of the electrons in a given block where the moving body 1 has moved. Furthermore, the second storage unit 73 also stores information representing the object detection area A1 (see reference). Figure 10 (Regional data).

[0115] (4) Component supply device

[0116] exist Figure 2 In this embodiment, the component supply device F1 (feeder) is used to supply components to the mounting body 8 located in the factory. In this embodiment, the conveying device 11 receives instructions from the upper system 7 to move the conveyor 12, placed at a location within a given block, together with the component supply device F1 mounted on the conveyor 12. Thus, the component supply device F1 is moved to the mounting body 8. More specifically, the component supply device F1 is moved into a recess 81 located on the side of the mounting body 8. When the component supply device F1 is moved into the recess 81, the second connector of the conveyor 12 is connected to the first connector located on the mounting body 8, thereby connecting the mounting body 8 and the conveyor 12. Then, components can be supplied from the component supply device F1 to the mounting body 8 while the mounting body 8 and the conveyor 12 are connected.

[0117] (5) Example of the first action

[0118] Below, refer to Figures 3-9 The first action example of the moving body system 10 moving the transported object 12 to the destination (recess 81) will be described. Furthermore, in Figures 4-9 The illustration of the transported item 12 is omitted in the text. Figure 3 The flowchart shown is merely an example of the control method for the moving body 1 involved in this disclosure. The order of processing can be changed appropriately, and processing can be added or omitted as appropriate.

[0119] Track L1 (such as magnetic tape) extends to the location where the mounting body 8 is installed. The conveying device 11 receives instructions from the upper system 7, holds the conveyed item 12, and moves it together with the conveyed item 12 to track L1. Figure 3 Step ST1). That is, the moving body 1 moves to the track L1. The moving body 1 moves to the track L1, for example, using information such as the current position and the operation state obtained by the travel detection unit 550. Here, the track L1 is assumed to be a straight line.

[0120] In the first operational example, it is predetermined which of the multiple sensors 4 corresponds to the first, second, and third sensors, respectively. The control unit 51 processes one sensor 4 selected from the multiple sensors 4 as the first sensor, and processes a sensor 4 different from the first sensor as the second sensor. Furthermore, the control unit 51 processes a sensor 4 different from the second sensor as the third sensor. Here, the control unit 51 processes sensor 41 as both the first and third sensor, and processes sensor 42 as the second sensor.

[0121] like Figure 2 , Figure 4 As shown, the second sensor (sensor 42) and the third sensor (sensor 41) are arranged along the direction of travel (forward or backward) of the moving body 1 when the central axes of two given two drive wheels (wheel 1 21 and wheel 22) of the plurality of drive wheels 2 are aligned.

[0122] In addition, such as Figure 2 As shown, the direction of travel of the moving body 1 when the central axes of two given driving wheels (wheel 1 21 and wheel 22) from a plurality of driving wheels 2 are aligned (in) Figure 2 Observing from the front end 123 of the moving body 1 in the rear direction, the first sensor is positioned further away than the second sensor (sensor 42).

[0123] If the first sensor detects track L1 when the moving body 1 is moving in step ST1 (step ST2: yes), the control unit 51 stops the moving body 1. Figure 4 This indicates that the first sensor (sensor 41) has detected track L1 and the moving body 1 has stopped moving. Figure 4 In the process, sensor 41 detects the presence of orbit L1 at a given position P1 that overlaps with orbit L1.

[0124] Then, the control unit 51 calculates the rudder angle and travel speed of each of the multiple drive wheels 2 used to rotate the moving body 1 in the first rotation step (step ST3). Figure 5 As shown, the rudder angle θ1 of the first wheel 21 is the angle (here, we assume it to be an acute angle) formed by an imaginary line VL1 along the forward and backward direction of the moving body 1 when viewed from above and the rotation direction of the first wheel 21. The rudder angle of the second wheel 22... It is the angle (here, set as acute) formed by the imaginary line VL2 along the forward and backward direction of the moving body 1 when viewed from above and the rotation direction of the second wheel 22. Furthermore, in the following explanation, the complementary angle α1 of the rudder angle θ1 and the rudder angle... The complementary angle β1.

[0125] Steering motor 522 (reference)Figure 1 ) by rotating the first wheel 21 about the rotation axis Xl, thereby changing the direction of rotation of the first wheel 21. The steering motor 532 (refer to FIG. 2) is controlled to rotate the first wheel 21 about the rotation axis Xl. Figure 1 ) by rotating the second wheel 22 about the rotation axis X2, thereby changing the direction of rotation of the second wheel 22.

[0126] In the first turning step, the moving body 1 is turned about the position Pl at which the sensor 41 and the track LI overlap, so that the positional relationship between the track LI and the position Pl is not changed. In order to achieve such a first turning step, the rudder angle θl is determined so that a line segment connecting the position Pl and the rotation axis Xl is orthogonal to an axis along the direction of rotation of the first wheel 21 when viewed from above. Similarly, in order to achieve the first turning step, the rudder angle θ2 is determined so that a line segment connecting the position P2 and the rotation axis X2 is orthogonal to an axis along the direction of rotation of the second wheel 22 when viewed from above. In order to achieve such a first turning step, the rudder angle θl is determined so that a line segment connecting the position Pl and the rotation axis Xl is orthogonal to an axis along the direction of rotation of the first wheel 21 when viewed from above. Similarly, in order to achieve the first turning step, the rudder angle θ2 is determined so that a line segment connecting the position P2 and the rotation axis X2 is orthogonal to an axis along the direction of rotation of the second wheel 22 when viewed from above.

[0127] On the other hand, the travel speeds of the respective drive wheels 2 are determined as follows. The control section 51 determines the travel speeds of the respective drive wheels 2 so that the angular velocity of the first wheel 21 and the angular velocity of the second wheel 22 are identical. Thereby, matching of the movement of the first wheel 21 and the movement of the second wheel 22 can be achieved. In more detail, thereby, the first wheel 21 and the second wheel 22 rotate without idling.

[0128] A condition for making the angular velocity of the first wheel 21 and the angular velocity of the second wheel 22 identical is represented by [Math. 1].

[0129] [Math. 1]

[0130] Va / Ra = Vb / Rb

[0131] Va is the speed (travel speed) of the first wheel 21 in the direction of rotation. Vb is the speed (travel speed) of the second wheel 22 in the direction of rotation. Ra is the distance between the position Pl and the rotation axis Xl. Rb is the distance between the position P2 and the rotation axis X2.

[0132] On the other hand, according to Figure 5 , [Math. 2] is established.

[0133] [Math. 2]

[0134] Ra x cos α = Rb x cos β

[0135] Here, α = αl, β = βl.

[0136] If the travel speeds Va, Vb are determined so as to satisfy [Math. 3] according to [Math. 1] and [Math. 2], the angular velocity of the first wheel 21 and the angular velocity of the second wheel 22 are identical.

[0137] [Math. 3]

[0138] Va x cos a = Vb x cos β

[0139] Hereinafter, the travel speeds Va, Vb calculated by the step ST3 are respectively denoted as Va1, Vb1.

[0140] Further, the signs of the travel speeds Va1, Vb1 are determined so that the directions of the angular momentums centered on the position Pl are identical. That is, the signs of the travel speeds Va1, Vb1 are determined so that the travel speeds Va1, Vb1 both contribute to the rotation of the mobile body 1 in the clockwise direction or in the counterclockwise direction when viewed from above.

[0141] After the control section 51 determines the rudder angle θ1, and the travel speeds Va1, Vb1, the control section 51 starts the first turning step (step ST4). First, the control section 51 changes the directions of rotation of the first wheel 21 and the second wheel 22 so as to realize the rudder angle θ1, (see Figure 5 ). Then, the control section 51 causes the first wheel 21 to travel at the travel speed Va1 and the second wheel 22 to travel at the travel speed Vb1 until the sensor 42 detects the state where the first target position T1 has the track LI within the second detection range of the sensor 42 (second sensor). Here, the first target position T1 is set in advance and stored in the first storage section 56. In the present embodiment, the first target position T1 is the position of the center of the sensor 42. The first target position T1 is not an absolute position provided on the moving surface Bl, but is a position provided on the coordinate axis that rotates and moves together with the mobile body 1.

[0142] If the sensor 42 detects the state where the first target position T1 has the track LI (step ST5: YES), the control section 51 stops the travel of the mobile body 1. Figure 6 The state where the sensor 42 detects the state where the first target position T1 has the track LI and the travel of the mobile body 1 is stopped is denoted as a state of "stop".

[0143] Then, the control section 51 calculates the rudder angles and the travel speeds of the plurality of drive wheels 2 for turning the mobile body 1 in the second turning step (step ST6). That is, the control section 51 newly determines the rudder angles and the travel speeds. Hereinafter, the rudder angles and the travel speeds calculated by the step ST6 are respectively denoted as θ2, Va2, Vb2.

[0144] In the second turning step, the mobile body 1 turns around the first target position Tl as a turning center so that the positional relationship between the track Ll and the first target position Tl does not change. In order to achieve such a second turning step, as shown in FIG. 6, a new rudder angle θ2 (and a complementary angle α2) is determined so that a line segment connecting the first target position Tl and the rotation axis Xl is orthogonal to an axis along the direction of rotation of the first wheel 21 when viewed from above. Similarly, in order to achieve the second turning step, a new rudder angle θ2 (and a complementary angle β2) is determined so that a line segment connecting the first target position Tl and the rotation axis X2 is orthogonal to an axis along the direction of rotation of the second wheel 22 when viewed from above. Figure 7 (β2) is determined so that a line segment connecting the first target position Tl and the rotation axis X2 is orthogonal to an axis along the direction of rotation of the second wheel 22 when viewed from above.

[0145] On the other hand, the travel speeds Va2 and Vb2 of each drive wheel 2 are determined by [Math. 3]. Here, Va = Va2, Vb = Vb2, α = α2, and β = β2. Furthermore, the signs of the travel speeds Va2 and Vb2 are determined so that the directions of the angular momentums centered on the first target position Tl coincide.

[0146] After the rudder angles θ2 and β2 and the travel speeds Va2 and Vb2 are determined, the control section 51 starts the second turning step (step ST7). First, the control section 51 changes the directions of rotation of the first and second wheels 21 and 22 by outputting control commands to the steering motors 522 and 532 so as to achieve the rudder angles θ2 and β2 (refer to FIG. 6). Then, the control section 51 causes the first wheel 21 to travel at the travel speed Va2 and the second wheel 22 to travel at the travel speed Vb2 until the sensor 41 detects that the track Ll is present in the third detection range of the sensor 41 (third sensor) at the second target position T2. Here, the second target position T2 is set in advance and stored in the first storage section 56. In the present embodiment, the second target position T2 is the position of the center of the sensor 41. The second target position T2 is not an absolute position set on the moving surface Bl, but a position set on the coordinate axis that rotates and moves together with the mobile body 1. Figure 7 If the sensor 41 detects that the track Ll is present at the second target position T2 (step ST8: YES), the control section 51 stops the travel of the mobile body 1.

[0147] represents a state in which the sensor 41 detects that the track Ll is present at the second target position T2 and the travel of the mobile body 1 is stopped. Figure 8

[0148] ​​​At the end of the second turning step, the first target position T1 and the second target position T2 are located on the track L1. In the present embodiment, the first target position T1 and the second target position T2 are arranged in the front-rear direction. Thus, at the end of the second turning step, the orientation of the mobile body 1 becomes an orientation in which the front-rear direction of the mobile body 1 coincides with the length direction of the linear track L1.

[0149] After the second turning step, the control section 51 executes a direction conversion step (step ST9). The direction conversion step is a step of changing the rotation directions of the plurality of drive wheels 2 in place so that the rotation directions of the plurality of drive wheels 2 each become a desired direction. The desired direction can be different for each drive wheel 2. The control section 51 outputs a control command to the steering motor 522 (refer to FIG. 2) to thereby cause the first wheel 21 to rotate about the rotation axis X1, and the rotation direction D1 of the first wheel 21 to change. Similarly, the control section 51 outputs a control command to the steering motor 532 (refer to FIG. 2) to thereby cause the second wheel 22 to rotate about the rotation axis X2, and the rotation direction D2 of the second wheel 22 to change. Figure 1 ) outputs a control command to the steering motor 522 (refer to Figure 1 ) to thereby cause the first wheel 21 to rotate about the rotation axis X1, and the rotation direction D1 of the first wheel 21 to change. Similarly, the control section 51 outputs a control command to the steering motor 532 (refer to

[0150] Figure 9 The mobile body 1 after the direction conversion step is shown. In the present embodiment, in the direction conversion step, the desired direction is a direction in which the rotation directions of the plurality of drive wheels 2 each are along the direction of the track L1. In more detail, the desired direction is a direction in which the rotation directions of the plurality of drive wheels 2 each are parallel to the track L1. In the present disclosure, the term "parallel" includes not only a state of being completely parallel but also a state of being substantially parallel. For example, even if the state of being parallel deviates slightly (to the extent of several degrees), it is referred to as "parallel".

[0151] In the present embodiment, the rotation directions of the plurality of drive wheels 2 become inclined with respect to the front-rear direction by the turning action (refer to Figure 8 ), and from this state, the direction conversion step is executed in a direction in which the rotation directions of the plurality of drive wheels 2 are along the front-rear direction (refer to Figure 9 ). Thus, compared to a case in which the rotation directions of the plurality of drive wheels 2 are converted from a direction parallel to the left-right direction to a direction along the front-rear direction, the angle change (change in the rotation angle of the rotation about the rotation axes X1, X2 along the up-down direction) of the plurality of drive wheels 2 in the direction conversion is small. The above-mentioned angle change is small, and thus it is possible to reduce the possibility of the plurality of drive wheels 2 slipping in the direction conversion, and even if slipping occurs, it is possible to reduce the amount of slipping. Thus, it is possible to reduce the possibility of the mobile body 1 being displaced in position with respect to the track L1, and even if displacement in position occurs, it is possible to reduce the degree of displacement in position.

[0152] After the direction conversion step, the mobile body 1 moves along the track LI (step ST10). In the present embodiment, the mobile body 1 retreats along the track LI. Here, in a case where a curve is provided in a part of the track LI, the mobile body 1 detects the curve by the plurality of sensors 4. Then, the control section 51 decides the rudder angles of the plurality of drive wheels 2 and the traveling speed based on the detection results of the plurality of sensors 4, and causes the mobile body 1 to travel along the curve.

[0153] If the mobile body 1 reaches the destination (step ST11), the control section 51 stops the traveling of the mobile body 1. The destination is a position at which the component supply device Fl is housed in the recess 81 of the mounting body 8 (refer to Figure 2 ). According to the above, the component supply device Fl becomes a state in which the component can be supplied to the mounting body 8.

[0154] In addition, the control section 51 can set the first target position T1 and the second target position T2 so that the first target position T1 and the second target position T2 are arranged in a direction intersecting the front-rear direction when viewed from above. By this, the control section 51 can cause the mobile body 1 to turn so that the front-rear direction of the mobile body 1 intersects the track LI when viewed from above.

[0155] The mobile body 1 rotates with a point on the first sensor (sensor 41) as a turning center in the first turning step, and rotates with a point on the second sensor (sensor 42) as a turning center in the second turning step. When viewed from the front end 123 (refer to Figure 2 ) of the mobile body 1, the first sensor is arranged farther than the second sensor among the first sensor and the second sensor. The first sensor farther from the front end 123 becomes the turning center earlier than the second sensor, and thus the accuracy of the position adjustment of the mobile body 1 (particularly, the front end 123) with respect to the track LI can be further improved.

[0156] (6) Second Action Example

[0157] Next, a second action example of the mobile body system 10 that moves the conveyance object 12 to the destination will be described with reference to Figure 10 and Figure 11 The second action example differs from the first action example in that the control section 51 controls the traveling state of the mobile body 1 based on the detection result of the object detection section 55 (refer to Figure 1 ).

[0158] The mobile body 1 detects the presence or absence of an object in the object detection region Al around the mobile body 1 using the object detection section 55. If the object detection section 55 detects the presence of an object in the object detection region Al, the traveling control section 511 (refer to Figure 1The driving control unit 511 controls the moving body 1 to avoid contact between the moving body 1 and objects present in the object detection area A1. For example, if the object detection unit 55 detects an object in the object detection area A1, the driving control unit 511 slows down or stops the moving body 1. Alternatively, if the object detection unit 55 detects an object in the object detection area A1 while the moving body 1 is turning, the driving control unit 511 changes the turning direction of the moving body 1 to avoid the object. Alternatively, if the object detection unit 55 detects an object in the object detection area A1 while the moving body 1 is moving straight, the driving control unit 511 causes the moving body 1 to turn around to avoid the object.

[0159] The positions within the object detection area A1 are set on the coordinate axes of the moving body 1. Therefore, if the moving body 1 moves or rotates, the object detection area A1 will also move or rotate accordingly.

[0160] Upper-level system 7 (refer to) Figure 1 The second storage unit 73 stores region data representing the object detection region A1. The processing unit 71 determines the object detection region A1 based on the region data obtained from the second storage unit 73 and sends a control instruction to specify the object detection region A1 via the second communication unit 72. Region setting unit 512 (see reference) Figure 1 Based on control instructions from the higher-level system 7, at least one of the size and shape of the object detection area A1 is set (determined).

[0161] The object detection area A1 includes: a conveying device area A10, a first buffer area surrounding the conveying device 11 having the moving body 1; and a transported object area A20, a second buffer area surrounding the transported object 12. The object detection area A1 is configured to follow the shape of the moving body 1 when viewed from above. Furthermore, the object detection area A1 may include an area that overlaps with the moving body 1 when viewed from above (the area above or below the moving body 1). That is, the conveying device area A10 may include an area that overlaps with the conveying device 11 when viewed from above. Furthermore, the transported object area A20 may include an area that overlaps with the transported object 12 when viewed from above.

[0162] When the moving object 1 stops and when it moves in a straight line, the shape of the object detection area A1 is the first shape. The first shape is... Figure 10 The shape shown. When the object detection area A1 has the first shape, the distance L11 from the left end of the moving body 1 to the left end of the object detection area A1 is equal to the distance L12 from the right end of the moving body 1 to the right end of the object detection area A1. Furthermore, here, distances L11 and L12 are defined by the distance between the conveying device 11 and the boundary of the object detection area A1. Figure 10Further, the distance L13 between the left end of the conveyance object 12 and the left end of the object detection region Al, and the distance L14 between the right end of the conveyance object 12 and the right end of the object detection region Al are illustrated.

[0163] The mobile body 1 performs the rotation in the first rotation step and the second rotation step. Figure 10 The state before the mobile body 1 is about to perform the rotation with the first target position Tl as the center of rotation in the second rotation step is indicated by T2. Figure 11 The state in the middle of the rotation in the second rotation step is indicated by T3. Figure 10 Figure 11 In the state T2, the distance between the front end 302 of the mobile body 1 and the first target position Tl is shorter than the distance between the rear end (front end 123) of the mobile body 1 and the first target position Tl.

[0164] The region setting section 512 expands the object detection region Al in the direction of rotation of the mobile body 1 when the mobile body 1 rotates. That is, the region setting section 512 makes the length of the object detection region Al in the direction of rotation of the mobile body 1 longer (expanded) than at the immediately preceding time point. In addition, even when the mobile body 1 rotates in a situation other than the first rotation step and the second rotation step, the region setting section 512 can expand the object detection region Al in the direction of rotation of the mobile body 1.

[0165] For example, when the mobile body 1 rotates clockwise, the shape of the object detection region Al is a second shape. The second shape is a shape as indicated by T2. When the shape of the object detection region Al is the second shape, the distance L22 between the right end of the mobile body 1 (conveyance device 11) and the right end of the object detection region Al is equal to the distance L12 in the first shape. On the other hand, when the shape of the object detection region Al is the second shape, the distance L21 between the left end of the mobile body 1 (conveyance device 11) and the left end of the object detection region Al is longer than the distance L11 in the first shape. That is, the region setting section 512 widens the object detection region Al in the direction in which the mobile body 1 advances from here. Figure 11 Further, for example, when the mobile body 1 rotates counterclockwise, the shape of the object detection region Al is a third shape. When the shape of the object detection region Al is the third shape, the distance between the left end of the mobile body 1 (conveyance device 11) and the left end of the object detection region Al is equal to the distance L11 in the first shape. On the other hand, when the shape of the object detection region Al is the third shape, the distance between the right end of the mobile body 1 (conveyance device 11) and the right end of the object detection region Al is longer than the distance L12 in the first shape. That is, the region setting section 512 widens the object detection region Al in the direction in which the mobile body 1 advances from here.

[0166] Further, for example, when the mobile body 1 rotates counterclockwise, the shape of the object detection region Al is a third shape. When the shape of the object detection region Al is the third shape, the distance between the left end of the mobile body 1 (conveyance device 11) and the left end of the object detection region Al is equal to the distance L11 in the first shape. On the other hand, when the shape of the object detection region Al is the third shape, the distance between the right end of the mobile body 1 (conveyance device 11) and the right end of the object detection region Al is longer than the distance L12 in the first shape. That is, the region setting section 512 widens the object detection region Al in the direction in which the mobile body 1 advances from here.​

[0167] As shown in the above 2nd action example, the control section 51 executes the setting step and the control step. In the setting step, the range in which the object is detected, i.e., the object detection region Al, is set around the mobile body 1. In the control step, the mobile body 1 is controlled based on the detection result of the object in the object detection region Al. In the setting step, the object detection region Al is expanded in the direction in which the mobile body 1 turns when the mobile body 1 turns. Thereby, the object detection section 55 easily detects the object that is likely to collide with the mobile body 1 when the mobile body 1 turns.

[0168] (Modified Example 1)

[0169] Hereinafter, the mobile body system 10 related to the modified example 1 will be described. As for the same structure as the embodiment, the same reference numerals are marked and the description is omitted.

[0170] As with the embodiment, the control section 51 executes the direction conversion step. The direction conversion step is a step of changing the rotation direction of each of the plurality of drive wheels 2 in place so that the rotation direction of each of the plurality of drive wheels 2 becomes a desired direction.

[0171] In the embodiment, in the direction conversion step, the desired direction is the direction in which the rotation direction of each of the plurality of drive wheels 2 is along the direction of the track LI (refer to Figure 9 ). In contrast, in the present modified example 1, in the direction conversion step, the desired direction is the direction in which the plurality of drive wheels 2 becomes toe-in or toe-out.

[0172] A state in which the plurality of drive wheels 2 is toe-in is shown in Figure 12 . The toe angle τ1 of the first wheel 21 is an angle formed by the rotation direction D1 of the first wheel 21 and the front-rear direction of the mobile body 1. The toe angle τ2 of the second wheel 22 is an angle formed by the rotation direction D2 of the second wheel 22 and the front-rear direction of the mobile body 1. When the plurality of drive wheels 2 is toe-in, the toe angles τ1, τ2 are, for example, coincident with each other and are 10 degrees. In addition, when the plurality of drive wheels 2 is toe-out, the toe angles τ1, τ2 are, for example, coincident with each other and are -10 degrees.

[0173] According to the present modified example 1, compared with the case where the toe angles τ1, τ2 are 0 degrees, it is possible to seek improvement in stability of travel of the mobile body 1.

[0174] (Modified Example 2)

[0175] Hereinafter, the mobile body system 10 related to the modified example 2 will be described with reference to Figure 13 . As for the same structure as the embodiment, the same reference numerals are marked and the description is omitted.

[0176] In addition, in the present modification 2, which of the plurality of sensors 4 corresponds to the first sensor, the second sensor, and the third sensor, respectively, is not determined in advance, but is determined before or during the execution of the first turning step and the second turning step. Further, as in the embodiment, it is not necessary that one sensor 4 serves as both the first sensor and the third sensor, and in the present modification 2, the first sensor and the third sensor are sometimes different sensors 4.

[0177] In Figure 13 In the present modification 2, an example in which the first turning step is executed from this state will be described.

[0178] For example, as in the embodiment, in a case where it is desired to turn the mobile body 1 so that the front-rear direction of the mobile body 1 coincides with the length direction of the linear track Ll, the following is sufficient. First, the control section 51 sets the first target position Tl on the sensor 41 or the sensor 42. In the present modification 2, the control section 51 sets the point t2 on the sensor 42 (the second sensor) as the first target position Tl. Then, in the first turning step, the control section 51 turns the mobile body 1 with the position P1 as the center of turning until the state where the sensor 42 detects the presence of the track Ll at the first target position Tl (the point t2) is reached. In this way, the mobile body 1 is turned, and the positional relationship between the mobile body 1 and the track Ll changes. That is, if the mobile body 1 is taken as a reference, the position of the track Ll becomes the position indicated by the imaginary line L2.

[0179] Then, the control section 51 sets the point tl on the sensor 41 (the third sensor) as the second target position T2. Thereafter, in the second turning step, the control section 51 turns the mobile body 1 with the first target position Tl (the point t2) as the center until the state where the sensor 41 detects the presence of the track Ll at the second target position T2 is reached. As a result, as shown in FIG. 12, it is possible to turn the mobile body 1 so that the front-rear direction of the mobile body 1 coincides with the length direction of the linear track Ll. Figure 8

[0180] ​As another example, in a case where the mobile body 1 is intended to be rotated so as to cross (for example, orthogonally) the track LI from above, the following is performed. First, the control section 51 sets the point t3 on the sensor 44 (the second sensor) as the first target position Tl. Then, in the first rotation step, the control section 51 causes the mobile body 1 to rotate with the position PI as the center of rotation until the sensor 44 detects a state where the track LI is present at the first target position Tl (the point t3). In this way, the mobile body 1 is rotated, and thus the positional relationship between the mobile body 1 and the track LI changes. That is, if the mobile body 1 is taken as a reference, the position of the track LI becomes the position indicated by the imaginary line L3.

[0181] Then, the control section 51 sets the point on the sensor 43 (the third sensor) as the second target position T2. Thereafter, in the second rotation step, the control section 51 causes the mobile body 1 to rotate with the first target position Tl (the point t3) as the center until the sensor 43 detects a state where the track LI is present at the second target position T2. Thus, it is possible to cause the mobile body 1 to be rotated so as to cross (for example, orthogonally) the track LI from above.

[0182] (Modified Example 3)

[0183] Hereinafter, the mobile body system 10 related to the modified example 3 will be described with reference to the drawings. Figure 14 The mobile body system 10 related to the modified example 3 will be described. As for the same structure as the embodiment, the same reference numerals are attached and the description is omitted.

[0184] In the present modified example 3, the expansion method of the object detection region Al at the time of rotation of the mobile body 1 is different from the embodiment. The object detection region Al includes: a conveyance device region A10 having a first buffer region around the conveyance device 11; and a conveyed object region A20 having a second buffer region around the conveyed object 12. At the time of rotation of the mobile body 1, the region setting section 512 of the control section 51 expands the conveyance device region A10 in the direction of rotation (the direction of advancement) of the conveyance device 11. In addition, at the time of rotation of the mobile body 1, the region setting section 512 expands the conveyed object region A20 in the direction of rotation (the direction of advancement) of the conveyed object 12.

[0185] For example, at the time of stop of the mobile body 1 and at the time of straight running of the mobile body 1, the shape of the object detection region Al is the shape indicated by Figure 10 Figure 10 indicates a state just before the mobile body 1 is caused to rotate with the first target position Tl as the center of rotation in the second rotation step, Figure 14 indicates a state halfway through the clockwise rotation of the mobile body 1 with the first target position Tl as the center of rotation in the second rotation step. At the time of clockwise rotation of the mobile body 1 with the first target position Tl as the center of rotation, the conveyance device 11 advances to the right, and the conveyed object 12 advances to the left.​

[0186] For example, when the mobile body 1 revolves in the clockwise direction, the object detection area Al set by the area setting section 512 has the fourth shape. The fourth shape is a shape shown in FIG. 4C. When the object detection area Al has the fourth shape, the distance L31 between the left end of the conveyance device 11 and the left end of the conveyance device area AlO is equal to the distance Ll l in the first shape. On the other hand, the distance L32 between the right end of the conveyance device 11 and the right end of the conveyance device area AlO is longer than the distance L12 in the first shape. Figure 14

[0187] Further, when the object detection area Al has the fourth shape, the distance L33 between the left end of the conveyed object 12 and the left end of the conveyed object area A20 is longer than the distance L13 in the first shape. On the other hand, the distance L34 between the right end of the conveyed object 12 and the right end of the conveyed object area A20 is equal to the distance L14 in the first shape.

[0188] Further, for example, when the mobile body 1 revolves in the counterclockwise direction, the area setting section 512 can expand the conveyance device area AlO and the conveyed object area A20 in directions opposite to those when the mobile body 1 revolves in the clockwise direction, respectively.

[0189] In this modified example 3, the area setting section 512 expands the conveyance device area AlO in the direction in which the conveyance device 11 advances and expands the conveyed object area A20 in the direction in which the conveyed object 12 advances, and thus it is easy to detect an object that is likely to collide with the mobile body 1 compared to the embodiment.

[0190] (Other Modified Examples of the Embodiment)

[0191] Hereinafter, other modified examples of the embodiment will be described. The following modified examples can be appropriately combined. Further, the following modified examples can be appropriately combined with the above-described modified examples.

[0192] The component supply device Fl can be regarded as a part of the conveyed object 12.

[0193] The conveyance device 11 is not limited to a structure arranged in the front-rear direction with respect to the conveyed object 12. The conveyance device 11 can be a structure arranged in the up-down direction or the left-right direction with respect to the conveyed object 12.

[0194] The number of the drive wheels 2 is not limited to two, and can be three or more. Further, at least one of the plurality of drive wheels 2 can be provided in the conveyed object 12. The control section 51 can perform the first revolving step and the second revolving step by controlling the drive wheels of the conveyed object 12.

[0195] ​The sensor 122 of the conveyance article 12 can also function as the first sensor, the second sensor, or the third sensor. Furthermore, in the case where the conveyance article 12 has a plurality of sensors 122, the conveyance device 11 can also not have the sensor 4.

[0196] In the case where only the sensor 4 of the conveyance device 11 functions as the first sensor, the second sensor, or the third sensor, since the sensor 4 is distanced from the front end 123 (rear end) of the conveyance article 12, the accuracy of the position adjustment of the front end 123 becomes relatively low. In contrast, by using the sensor 122 of the conveyance article 12 as the first sensor, the second sensor, or the third sensor, it is possible to increase the accuracy of the position adjustment of the conveyance article 12 (particularly, the front end 123 thereof).

[0197] The manner in which the sensor 4 detects the track LI is not limited to the manner using magnetism. For example, an optical sensor provided as the sensor 4 can also detect the track LI by projecting light toward a reflection band provided as the track LI, and detecting the reflected light.

[0198] The detection range of the sensor 4 (the first to third detection ranges) can also not overlap with the sensor 4 when viewed from above.

[0199] In the embodiment, the number of sensors possessed by the mobile body 1 is the total of the four sensors 4 and the sensor 122, that is, five. However, the number of sensors is not limited to five, but can be two or more. For example, the number of sensors can also be the total of the sensors 41 and 42, that is, two.

[0200] The mobile body system 10 can also perform further rotation steps similar to the second rotation step to rotate after the second rotation step is performed.

[0201] The object detection region Al can also not include one of a conveyance device region A10 having a first buffer region around the conveyance device 11, and a conveyance article region A20 having a second buffer region around the conveyance article 12.

[0202] The shape of the object detection region Al is not limited to the shape of a hexagon when viewed from above as shown in Figure 10 , Figure 11 and can be appropriately changed. For example, the shape of the object detection region Al can also be circular or elliptical.

[0203] The range of the object detection region Al in the front-rear and left-right directions can also differ for each height in the up-down direction. That is, the object detection region Al can also be a three-dimensional region. For example, in a case where the height of the conveyed object 12 is higher than the height of the mobile body 11, the object detection region Al can also include a first region around the mobile body 11 and the conveyed object 12, and a second region provided around the conveyed object 12 and located above the first region.

[0204] The region setting section 512 can also acquire information about the size of the conveyed object 12, and change the size and shape of the object detection region Al based on the acquired information.

[0205] The region setting section 512 can also change the degree of expansion of the object detection region Al according to the speed of the mobile body 1 during the turning. For example, the region setting section 512 can increase the degree of expansion of the object detection region Al in the turning direction of the mobile body 1 faster as the speed of the mobile body 1 during the turning is faster.

[0206] The region setting section 512 can also reduce the object detection region Al in a direction opposite to the turning direction of the mobile body 1.

[0207] The region setting section 512 can also expand the object detection region Al in both left and right directions when the mobile body 1 turns in the clockwise direction or in the counterclockwise direction.

[0208] The region setting section 512 can also change the size and shape of the object detection region Al according to the situation in which the mobile body 1 is used. For example, when the mobile body 1 moves in a narrow passage, it is possible that an object such as a wall at the end of the passage enters the object detection region Al and is detected, and the mobile body 1 slows down or stops. Thus, it is preferable to narrow the object detection region Al compared to a case where the mobile body 1 moves in a wide passage. In addition, in order to connect to a charger to charge an electric storage device built in the mobile body 1, or to exchange the conveyed object 12 with another mobile body, it is necessary to approach the charger or the other mobile body, and thus it is preferable to narrow the object detection region Al.

[0209] The mobile body system 10 in the present disclosure includes a computer system. The computer system has a processor and a memory as main structures. The processor can realize a part of the functions of the mobile body system 10 in the present disclosure by executing a program recorded in the memory of the computer system. The program can be recorded in advance in the memory of the computer system, can be provided through an electric communication line, or can be recorded in a nonvolatile recording medium such as a memory card, an optical disk, or a hard disk drive that is readable by the computer system. The processor of the computer system is constituted by one or more electronic circuits including a semiconductor integrated circuit (IC) or a large-scale integrated circuit (LSI). The integrated circuit referred to here includes an integrated circuit called a system LSI, a VLSI (Very Large Scale Integration), or a ULSI (Ultra Large Scale Integration) depending on the degree of integration. Further, a logic device that can realize reconfiguration of the connection relationship within an LSI after the LSI is manufactured or reconfiguration of the circuit division within the LSI can also be adopted as the processor. The plurality of electronic circuits can be integrated in one chip or can be provided separately in a plurality of chips. The plurality of chips can be integrated in one device or can be provided separately in a plurality of devices. The computer system referred to here includes a microcontroller having one or more processors and one or more memories. Therefore, the microcontroller is also constituted by one or more electronic circuits including a semiconductor integrated circuit or a large-scale integrated circuit.

[0210] Further, it is not necessary for the plurality of functions in the mobile body system 10 to be integrated in one device, and the constituent elements of the mobile body system 10 can be provided separately in a plurality of devices. For example, a part of the functions of the control section 51 can also be realized by the upper-level system 7. Further, at least a part of the functions of the mobile body system 10, for example, a part of the functions of the control section 51 can also be realized by a cloud (cloud computer) or the like.

[0211] Conversely, in the embodiments, the plurality of functions provided separately in a plurality of devices can also be integrated in one device. For example, the plurality of functions provided separately in the upper-level system 7 and the mobile body system 10 can also be integrated in one device.

[0212] (SUMMARY)

[0213] The following modes are disclosed by the above-described embodiments and the like.

[0214] The first method relates to a control method of a mobile body (1) that moves on a moving surface (B1). The mobile body (1) has a plurality of sensors (4, 122) and a plurality of drive wheels (2). A first sensor selected from the plurality of sensors (4, 122) detects a position of a track (L1) in a first detection range when the first detection range overlaps the track (L1). The track (L1) is provided on the moving surface (B1) for guiding the mobile body (1). A second sensor selected from the plurality of sensors (4, 122) and different from the first sensor detects a position of the track (L1) in a second detection range when the second detection range overlaps the track (L1). A third sensor selected from the plurality of sensors (4, 122) and different from the second sensor detects a position of the track (L1) in a third detection range when the third detection range overlaps the track (L1). The control method has a first turning step and a second turning step. The first turning step is a step of controlling the plurality of drive wheels (2) so that the mobile body (1) turns with a position (P1) in the first detection range overlapping the track (L1) as a turning center, from a state where the first detection range overlaps the track (L1) until the second sensor detects a state where the track (L1) is present at a first target position (T1) in the second detection range. The second turning step is a step of controlling the plurality of drive wheels (2) so that the mobile body (1) turns with the first target position (T1) as a turning center, after the first turning step until the third sensor detects a state where the track (L1) is present at a second target position (T2) in the third detection range.

[0215] According to the above-described structure, the position of the mobile body (1) is adjusted in the first turning step, and then the position of the mobile body (1) is finely adjusted in the second turning step. Thus, compared to a case where the position of the mobile body (1) is adjusted by only one turning, it is possible to improve the accuracy of the position adjustment with respect to the track (L1).

[0216] Further, the second method relates to a control method that further has a direction conversion step in the first method. The direction conversion step is a step of changing the rotation directions (D1, D2) of the plurality of drive wheels (2) in place after the second turning step so that the rotation directions (D1, D2) of the plurality of drive wheels (2) respectively become desired directions.

[0217] According to the above-described structure, it is possible to move the mobile body (1) in an arbitrary direction from the track (L1).

[0218] Further, in the control method of the third method, in the direction conversion step in the second method, the desired directions are directions in which the rotation directions (D1, D2) of the plurality of drive wheels (2) respectively follow the track (L1).

[0219] According to the above-described structure, after the mobile body (1) turns, the plurality of drive wheels (2) are directionally converted along the track (Ll), and thus the angle of the plurality of drive wheels (2) is less changed than when the plurality of drive wheels (2) are directionally converted from a state in which the plurality of drive wheels (2) are orthogonal to the track (Ll) in the direction of rotation (Dl, D2). Thus, the positional deviation of the mobile body (1) accompanying the directional conversion can be reduced. Thus, the accuracy of the positional adjustment of the mobile body (1) with respect to the track (Ll) can be further improved.

[0220] Further, in the control method according to the fourth aspect, in the third aspect, in the directional conversion step, the desired direction is a direction in which the plurality of drive wheels (2) become toe-in or toe-out.

[0221] According to the above-described structure, the stability of the travel of the mobile body (1) can be improved compared to when the toe angle is 0 degrees.

[0222] Further, the control method according to the fifth aspect further includes a setting step and a control step in any one of the first to fourth aspects. The setting step is a step of setting a range in which an object is detected, i.e., an object detection area (Al), around the mobile body (1). The control step is a step of controlling the mobile body (1) based on a detection result of an object in the object detection area (Al). In the setting step, the object detection area (Al) is expanded in a turning direction of the mobile body (1) when the mobile body (1) turns.

[0223] According to the above-described structure, an object that is likely to collide with the mobile body (1) when the mobile body (1) turns can be easily detected.

[0224] As for the structure other than the first aspect, the structure is not necessary for the control method, and can be appropriately omitted.

[0225] Further, the program according to the sixth aspect is a program for causing one or more processors to execute the control method according to any one of the first to fifth aspects.

[0226] According to the above-described structure, the accuracy of the positional adjustment of the mobile body (1) with respect to the track (Ll) can be improved.

[0227] Further, the mobile body system (10) according to the seventh aspect includes the mobile body (1) and the control section (51). The mobile body (1) includes the plurality of sensors (4, 122) and the plurality of drive wheels (2). The control section (51) controls the plurality of drive wheels (2) to move the mobile body (1) on the movement surface (Bl). A first sensor selected from the plurality of sensors (4, 122) detects a position of the track (LI) in a first detection range when the first detection range overlaps the track (LI). The track (LI) is provided on the movement surface (Bl) to guide the mobile body (1). A second sensor selected from the plurality of sensors (4, 122) and different from the first sensor detects the position of the track (LI) in a second detection range when the second detection range overlaps the track (LI). A third sensor selected from the plurality of sensors (4, 122) and different from the second sensor detects the position of the track (LI) in a third detection range when the third detection range overlaps the track (LI). The control section (51) executes a first turning step and a second turning step. The first turning step is a step of controlling the plurality of drive wheels (2) so that the mobile body (1) turns around a position (Pl) in the first detection range that overlaps the track (LI) as a center of turning, from a state where the first detection range overlaps the track (LI) until the second sensor detects a state where the track (LI) is present at a first target position (Tl) in the second detection range. The second turning step is a step of controlling the plurality of drive wheels (2) so that the mobile body (1) turns around the first target position (Tl) as the center of turning, after the first turning step until the third sensor detects a state where the track (LI) is present at a second target position (T2) in the third detection range.

[0228] According to the above-described configuration, it is possible to increase the accuracy of the position adjustment of the mobile body (1) with respect to the track (LI).

[0229] Further, in the mobile body system (10) according to the eighth aspect, in the seventh aspect, the mobile body (1) includes the conveyed object (12) and a conveying device (11) that conveys the conveyed object (12). The conveyed object (12) includes at least one sensor (122) from among the plurality of sensors (4, 122).

[0230] According to the above-described configuration, by the conveyed object (12) including the sensor (122), it is possible to increase the accuracy of the position adjustment of the conveyed object (12).

[0231] Further, in the mobile body system (10) according to the ninth aspect, in the seventh or eighth aspect, the second sensor and the third sensor are arranged in a direction of travel of the mobile body (1) when the center axes of given two drive wheels (2) from among the plurality of drive wheels (2) coincide.

[0232] According to the above-described structure, by executing the first turning step and the second turning step, it is possible to make the orientation of the mobile body (1) an orientation orthogonal to the center axes of the two drive wheels (2).

[0233] Further, in the mobile body system (10) according to the 10th aspect, in the mobile body (1) according to the 9th aspect, the first sensor is disposed farther than the second sensor, as viewed from the front end (123) of the mobile body (1) in the advancing direction of the mobile body (1) when the center axes of the given two drive wheels (2) among the plurality of drive wheels (2) coincide.

[0234] According to the above-described structure, in the first turning step and the second turning step, when the second turning step is executed later, the change in the position of the front end (123) of the mobile body (1) in the advancing direction becomes smaller. Thus, it is possible to further improve the accuracy of the position adjustment of the mobile body (1) with respect to the track (LI).

[0235] Further, in the mobile body system (10) according to the 11th aspect, in any one of the 7th to 10th aspects, the control section (51) further executes a direction conversion step. The direction conversion step is a step of changing the rotation directions (Dl, D2) of the plurality of drive wheels (2) in place after the second turning step, so that the rotation directions (Dl, D2) of the plurality of drive wheels (2) each become a desired direction.

[0236] According to the above-described structure, it is possible to move the mobile body (1) in an arbitrary direction from the track (LI).

[0237] Further, in the mobile body system (10) according to the 12th aspect, in the mobile body (1) according to the 11th aspect, in the direction conversion step, the desired direction is a direction in which the rotation directions (Dl, D2) of the plurality of drive wheels (2) each are along the track (LI).

[0238] According to the above-described structure, after the mobile body (1) turns, the plurality of drive wheels (2) are direction-converted along the track (LI), and thus the angle change of the plurality of drive wheels (2) is small compared to a case in which the plurality of drive wheels (2) are direction-converted from a state in which the rotation directions (Dl, D2) of the plurality of drive wheels (2) are orthogonal to the track (LI). Thus, it is possible to reduce the positional displacement of the mobile body (1) accompanying the direction conversion. Thus, it is possible to further improve the accuracy of the position adjustment of the mobile body (1) with respect to the track (LI).

[0239] Further, in the mobile body system (10) according to the 13th aspect, in the mobile body (1) according to the 12th aspect, in the direction conversion step, the desired direction is a direction in which the plurality of drive wheels (2) each become toe-in or toe-out.

[0240] According to the above-described structure, compared with the case where the bundle angle is 0 degrees, it is possible to achieve an improvement in stability of travel of the mobile body (1).

[0241] Further, in the mobile body system (10) according to the 14th aspect, in any one of the 7th to 13th aspects, the control section (51) further executes a setting step and a control step. The setting step is a step of setting a range in which an object is to be detected, i.e., an object detection area (Al), around the mobile body (1). The control step is a step of controlling the mobile body (1) based on a detection result of an object in the object detection area (Al). In the setting step, the object detection area (Al) is expanded in a direction of rotation of the mobile body (1) when the mobile body (1) rotates.

[0242] According to the above-described structure, it is easy to detect an object that is likely to collide with the mobile body (1) when the mobile body (1) rotates.

[0243] Further, in the mobile body system (10) according to the 15th aspect, in the 14th aspect, the mobile body (1) has a conveyance object (12) and a conveyance device (11) that conveys the conveyance object (12). The object detection area (Al) includes a conveyance device area (A10) having a first buffer area around the conveyance device (11) and a conveyance object area (A20) having a second buffer area around the conveyance object (12). In the setting step, when the mobile body (1) rotates, the control section (51) expands the conveyance device area (A10) in a direction of rotation of the conveyance device (11) and expands the conveyance object area (A20) in a direction of rotation of the conveyance object (12).

[0244] According to the above-described structure, it is easier to detect an object that is likely to collide with the mobile body (1) when the mobile body (1) rotates.

[0245] As for the structure other than the 7th aspect, the structure is not essential to the mobile body system (10) and can be omitted as appropriate.

[0246] Further, the component mounting system according to the 16th aspect has the mobile body system (10) according to any one of the 7th to 15th aspects and at least one component mounting apparatus (9). The component mounting apparatus (9) mounts a component on a substrate. The component mounting apparatus (9) has a component supply device (Fl) that supplies the component and a mounting body (8) that includes a mounting head. The mounting head mounts the component supplied from the component supply device (Fl) on the substrate. The component supply device (Fl) is conveyed to the mounting body (8) by the mobile body (1) of the mobile body system (10) moving along the track (LI).

[0247] According to the above-described structure, the accuracy of the position adjustment of the mobile body (1) with respect to the track (L1) is improved. Thus, the mobile body (1) easily carries the component supply device (F1) to the mounting body (8).

[0248] The various structures of the mobile body system (10) (including modifications) according to the embodiments are not limited to the above-described modes and can be realized by control methods and programs.

Claims

1. A control method for a moving body moving on a moving surface, the moving body having multiple sensors and multiple drive wheels. When the first sensor, selected from the plurality of sensors, overlaps with the track disposed on the moving surface for guiding the moving body within the first detection range, the first sensor detects the position of the track within the first detection range. A second sensor, selected from the plurality of sensors and different from the first sensor, detects the position of the track within the second detection range when the second detection range overlaps with the track. A third sensor, selected from the plurality of sensors and different from the second sensor, detects the position of the track within the third detection range when the third detection range overlaps with the track. The control method has the following characteristics: In the first gyration step, starting from the state where the first detection range and the track overlap, until the second sensor detects the track at the first target position within the second detection range, the plurality of drive wheels are controlled so that the moving body gyrates around the position within the first detection range that overlaps with the track as the gyration center; and In the second rotation step, after the first rotation step, until the third sensor detects that there is a track at the second target position within the third detection range, the plurality of drive wheels are controlled so that the moving body rotates around the first target position as the rotation center.

2. The control method according to claim 1, wherein, It also has: The direction-changing step, after the second rotation step, causes the plurality of drive wheels to change their rotation direction in place, so that the rotation direction of each of the plurality of drive wheels becomes the desired direction.

3. The control method according to claim 2, wherein, In the direction conversion step, the desired direction is the direction in which the rotation direction of each of the plurality of drive wheels is along the track.

4. The control method according to claim 3, wherein, In the direction conversion step, the desired direction is the direction in which the plurality of drive wheels become toe-in or toe-out.

5. The control method according to any one of claims 1 to 4, wherein, It also has: The setting step involves defining the range of objects to be detected around the moving body, i.e., the object detection area. and The control step involves controlling the moving body based on the detection results of objects in the object detection area. In the setting step, when the moving body rotates, the object detection area is expanded in the rotation direction of the moving body.

6. A non-volatile recording medium having a program recorded thereon for causing one or more processors to execute the control method according to any one of claims 1 to 5.

7. A mobile system comprising: The moving body has multiple sensors and multiple drive wheels; and The control unit controls the plurality of drive wheels, causing the moving body to move on the moving surface. When the first sensor, selected from the plurality of sensors, overlaps with the track disposed on the moving surface for guiding the moving body within the first detection range, the first sensor detects the position of the track within the first detection range. A second sensor, selected from the plurality of sensors and different from the first sensor, detects the position of the track within the second detection range when the second detection range overlaps with the track. A third sensor, selected from the plurality of sensors and different from the second sensor, detects the position of the track within the third detection range when the third detection range overlaps with the track. The control unit performs: In the first gyration step, starting from the state where the first detection range and the track overlap, until the second sensor detects the track at the first target position within the second detection range, the plurality of drive wheels are controlled so that the moving body gyrates around the position within the first detection range that overlaps with the track as the gyration center; and In the second rotation step, after the first rotation step, until the third sensor detects that there is a track at the second target position within the third detection range, the plurality of drive wheels are controlled so that the moving body rotates around the first target position as the rotation center.

8. The mobile body system according to claim 7, wherein, The mobile body includes a transport object and a transport device for transporting the transported object. The transported object has at least one of the plurality of sensors.

9. The mobile body system according to claim 7 or 8, wherein, The second and third sensors are arranged along the direction of travel of the moving body when the central axes of two given drive wheels of the plurality of drive wheels are aligned.

10. The mobile body system according to claim 9, wherein, Viewed from the front end of the moving body in the direction of travel of the moving body when the central axes of two given driving wheels of the plurality of driving wheels are aligned, the first sensor is positioned further away than the second sensor.

11. The mobile body system according to claim 7 or 8, wherein, The control unit also performs: The direction-changing step, after the second rotation step, causes the plurality of drive wheels to change their rotation direction in place, so that the rotation direction of each of the plurality of drive wheels becomes the desired direction.

12. The mobile body system according to claim 11, wherein, In the direction conversion step, the desired direction is the direction in which the rotation direction of each of the plurality of drive wheels is along the track.

13. The mobile body system according to claim 12, wherein, In the direction conversion step, the desired direction is the direction in which the plurality of drive wheels become toe-in or toe-out.

14. The mobile body system according to claim 7 or 8, wherein, The control unit also performs: The setting step involves defining the range of objects to be detected around the moving body, i.e., the object detection area. and The control step involves controlling the moving body based on the detection results of objects in the object detection area. In the setting step, when the moving body rotates, the object detection area is expanded in the rotation direction of the moving body.

15. The mobile body system according to claim 14, wherein, The mobile body includes a transport object and a transport device for transporting the transported object. The object detection area includes: a conveying device area, having a first buffer area around the conveying device; and a conveyed object area, having a second buffer area around the conveyed object. In the setting step, when the moving body rotates, the control unit expands the area of ​​the conveying device in the rotation direction of the conveying device, and expands the area of ​​the conveyed object in the rotation direction of the conveyed object.

16. A component mounting system, comprising: The mobile body system according to any one of claims 7 to 15; and At least one component mounting device for mounting components onto a substrate. The component mounting equipment has: Component supply device, supplying the component; and The mounting body includes a mounting head that mounts the component supplied from the component supply device onto the substrate. The moving body of the moving body system moves along the track, thereby conveying the component supply device to the mounting body.

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