Moving device, control method for moving device, robot system, process for manufacturing article using robot system, control program and recording medium

Abstract

To perform appropriate slowing down or stopping of a moving platform.SOLUTION: A moving device having a wheel whose direction can be controlled, comprises first detection means for detecting a state of the moving device, and the direction of the wheel is controlled based on a detection result of the first detection means.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to mobile devices. [Background technology]

[0002] In recent years, one method proposed for handling high-mix low-volume production is to move a robot to work spaces (work benches or fixed stands) located in different locations and have the robot perform different processes in each work space. One such method of movement is to mount the robot on a mobile stand with wheels and have the user tow the mobile stand and robot. The following Patent Document 1 describes a method of line tracing the steering wheel of the stand in order to move the mobile stand accurately. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2010-228710 A Summary of the Invention [Problem to be solved by the invention]

[0004] Here, when a user moves a robot on a mobile platform, in order to improve the safety of the user, the mobile platform is required to be appropriately decelerated so as to reduce the possibility of the robot and mobile platform tipping over while being moved. However, although Patent Document 1 describes accurate movement, there remains a problem regarding appropriate deceleration or stopping to improve the safety of the user.

[0005] The present invention provides proper slowing or stopping for a moving device. [Means for solving the problem]

[0006] The present invention employs a mobile device having wheels whose direction can be controlled, characterized in that the mobile device is equipped with a first detection means for detecting a state of the mobile device, and the direction of the wheels is controlled based on the detection result of the first detection means. Effect of the Invention

[0007] According to the present invention, it is possible to execute appropriate slowing down or stopping of a moving device. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a schematic diagram of a robot system 1000 according to an embodiment. [Diagram 2] FIG. 2 is a control block diagram of a robot system 1000 according to an embodiment. [Diagram 3] 2 is a diagram for explaining the control of a steering wheel 103 in the embodiment. FIG. [Figure 4] 11A and 11B are diagrams for explaining deceleration and stopping of the moving platform 109 in the embodiment. [Diagram 5] 3 is a control flowchart according to the embodiment. [Figure 6] FIG. 1 is a schematic diagram of a robot system 1000 according to an embodiment. [Figure 7] FIG. 2 is a control block diagram of a robot system 1000 according to an embodiment. [Figure 8] 10 is a diagram for explaining detection of a target position of a moving platform 109 in an embodiment. FIG. [Figure 9] 3 is a control flowchart according to the embodiment. [Figure 10] FIG. 1 is a schematic diagram of a robot system 1000 according to an embodiment. [Figure 11] FIG. 2 is a control block diagram of a robot system 1000 according to an embodiment. [Figure 12] 3 is a diagram for explaining the control of steered wheels 103a to 103d in the embodiment. FIG. [Figure 13]11A and 11B are diagrams for explaining deceleration and stopping of the moving platform 109 in the embodiment. [Figure 14] 3 is a diagram for explaining the control of steered wheels 103a to 103d in the embodiment. FIG. [Figure 15] 3 is a diagram for explaining the control of steered wheels 103a to 103d in the embodiment. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, the embodiments for carrying out the present invention will be described with reference to the accompanying drawings. Note that the embodiment shown below is merely an example, and for example, the detailed configuration can be appropriately changed by a person skilled in the art without departing from the spirit of the present invention. Also, the numerical values ​​taken up in the present embodiment are reference numerical values ​​and do not limit the present invention. Note that in the following drawings, the arrows X, Y, and Z in the figures indicate the overall coordinate system of the robot system. In general, the XYZ three-dimensional coordinate system indicates the world coordinate system of the entire installation environment. In addition, a local coordinate system may be appropriately used for the robot hand, fingers, joints, etc., depending on the convenience of control.

[0010] (First embodiment) FIG. 1 is a side view of a robot system 1000 according to this embodiment, as viewed from an arbitrary direction of an XYZ coordinate system. FIG. 1(a) is an XZ plan view, and FIG. 1(b) is an XY plan view. As shown in FIG. 1, the robot system 1000 includes a multi-joint robot arm 102 as a robot. The robot arm 102 is mounted on a moving platform 109 as a moving device. The user can move the robot arm 102 by pulling the moving platform 109. The moving platform 109 includes a handle 109a and a mounting portion 109b, and the robot arm 102 and a robot control device 101, which will be described later, are mounted on the mounting portion 109b. The user can move the moving platform 109 by operating the handle 109a, and the robot arm 102 and the robot control device 101 can be moved.

[0011] Although not shown, an end effector for performing work can be provided at a predetermined position of the robot arm 102. The end effector may be a robot hand, a screwdriver, a cutting / polishing tool, or other various tools. In this way, the robot can be moved to a corresponding work space (work table or fixed stand) by the moving stand 109, and the robot can manufacture an article using its end effector. An article is manufactured by grasping an object with the robot hand and assembling it to another object, or disassembling an assembled object, tightening a screw with a screwdriver, or cutting or polishing with a tool.

[0012] Next, the robot controller 101 controls the operation of the robot arm 102. Also, an external input device (not shown) is provided as a teaching device that transmits teaching data to the robot controller 101. One example of the external input device is a teaching pendant, which is used by an operator to specify the position and posture of the robot arm 102 and the position and posture of the end effector. The robot controller 101 is placed on a movable base 109 so that it can move together with the robot arm 102. The external input device may be mounted on the top of the robot controller 101 or on the movable base 109 so that it can be moved.

[0013] As shown in FIG. 1(a) and (b), the steering wheel 103 is the front wheel of the mobile platform 109, and its direction can be controlled independently by the steering unit 104 with an actuator built in. The steering wheel 103 can change its direction within a range of 360°. The line sensor 106 is a sensor that detects a line drawn or laid on the ground on which the mobile platform 109 runs. The line drawn or laid on the ground is the moving path that the mobile platform 109 follows. The position of the line detected by the line sensor 106 is input to the mobile platform control device 105 so that the mobile platform 109 moves in the direction of the line. Then, based on the calculation result of the mobile platform control device 105, the target direction of the steering control is transmitted to the steering unit 104 to perform steering control of the steering wheel 103. In addition to detecting the direction by the line, the result of route design from the current position and the target position by GPS (Global Positioning System) or Global Vision may be detected. The above-mentioned sensor that detects information related to the position to which the moving platform 109 should move may be referred to as a third detection means.

[0014] The wheels 108 are wheels that support the mobile platform 109, and are not steered. The disturbance sensor 107 is a sensor that detects disturbance as the state of the mobile platform 109. In this embodiment, the disturbance sensor 107 detects the inclination (attitude) of the mobile platform 109 and the impact applied to the mobile platform 109. As the disturbance sensor 107, a vibration sensor, a gyro sensor (attitude detection sensor), etc. are applied. Note that the vibration sensor and the gyro sensor are only examples, and a sensor that detects a force, a sensor that detects the number of rotations of the wheels 108 to detect the speed, and a sensor that detects the difference between the target direction and the traveling direction of the mobile platform 109 may be used as appropriate. In addition, a sensor that detects the weight of a transported object loaded on the mobile platform 109, and an imaging device may be used as appropriate. When the disturbance sensor 107 detects a change in the state of the mobile platform 109, the disturbance sensor 107 transmits a signal to the mobile platform control device 105 to notify it. Note that a sensor that detects the state of the mobile platform 109, such as the disturbance sensor 107, may be referred to as a first detection means.

[0015] With the above configuration, when the mobile platform 109 carrying the robot arm 102 detects an abnormality such as speeding or a sudden change in the posture of the mobile platform 109 while moving, the mobile platform 109 can be slowed down or stopped. For example, consider a case where the mobile platform 109 passes a corner. In such a case, if the robot arm 102 tilts or receives an impact from an outside collision, the steering unit 104 is driven to direct the pair of steering wheels 103 in different directions, as described later, to disperse the force in the forward direction and decelerate the mobile platform 109. Furthermore, as described later, by making the pair of steering wheels 103 and wheels 108 vertical, the other wheels can obstruct the rolling direction of the steering wheels 103 and wheels 108, thereby stopping the mobile platform 109.

[0016] Fig. 2 is a control block diagram of the robot system 1000 in this embodiment. The control device 101 is configured by a computer including a microprocessor and the like, and can control a robot arm 102 and an end effector (not shown). As shown in Fig. 2, the computer configuring the control device 101 has a CPU (Central Processing Unit) 101a, a ROM (Read Only Memory) 101b, and a RAM (Random Access Memory) 101d. It further includes a communication interface (hereinafter referred to as "I / F") 101e and the like. The CPU 101a, which is a processor, is an example of a control unit.

[0017] A program 101c is recorded in the ROM 101b. The program 101c is a program for causing a computer, i.e., the CPU 101a, to execute a control method for the robot arm 102 and the end effector. The RAM 101d is used to temporarily store data such as teaching data input from an external input device (not shown) and control commands. The CPU 101a acquires teaching data transmitted from the external input device, for example, and data from various sensors mounted on the robot arm 102 and the end effector by receiving the data via the I / F 101e. The CPU 101a can also generate trajectories for each joint of the robot arm 102 based on the teaching data and transmit commands as control target values ​​to various drivers of the robot arm 102 via the I / F 101e.

[0018] Similarly, the mobile platform control device 105 is configured with a computer including a microprocessor and the like, and can control the steering wheel 103 via a steering unit 104. The computer constituting the mobile platform control device 105 has a CPU 105a, a ROM 105b, and a RAM 105d, similar to the robot control device 101, and further includes an I / F 105e and the like. The CPU 105a, which is a processor, is an example of a control unit.

[0019] The ROM 105b stores a program 105c. The program 105c is a program for causing a computer, i.e., the CPU 105a, to execute a method for controlling the steering wheel 103. The RAM 105d is used to temporarily store data such as control commands to the steering unit 104.

[0020] The CPU 105a acquires information from the line sensor 106, the disturbance sensor 107, and the encoders (not shown) of the motors 104b and 104d via the bus 110 and the I / F. Then, via the bus 110 and the I / F, it outputs a control command value for controlling the direction of the steering wheels 103 to a motor driver 111 of the steering unit 104. The motor driver 111 drives and controls the motor 112 that controls the rotation direction of the steering wheels 103 based on the control command value. The motors 112 are each built into the steering unit 104, and each control the direction of the steering wheels 103.

[0021] In this embodiment, the programs 101c and 105c are recorded in the ROMs 101b and 105b, respectively, but are not limited thereto. The programs 101c and 105c may be recorded in any recording medium as long as the recording medium is a non-transient recording medium readable by a computer. As a recording medium for supplying the programs 101c and 105c to a computer, for example, a flexible disk, a hard disk, an optical disk, a magneto-optical disk, a magnetic tape, a non-volatile memory, etc. can be used.

[0022] Next, a method of decelerating and stopping the moving platform 109 in this embodiment will be described with reference to FIG. 3. FIG. 3 shows an XY plane. For the sake of explanation, the robot arm 102 and the robot control device 101 are omitted in FIG. 3. FIG. 3(a) is a schematic diagram of the steering wheel 103 when the moving platform 109 is moving straight ahead. FIG. 3(b) is a schematic diagram of the steering wheel 103 when the moving platform 109 is being decelerated. FIG. 3(c) is a schematic diagram of the steering wheel 103 when the moving platform 109 is being stopped. In the following description, the steering wheel 103 at the top of the page will be used as an example to explain the force at the steering wheel 103, but the same applies to the steering wheel 103 at the bottom of the page.

[0023] In the state of Fig. 3(a), the direction of the steering wheel 103 of the mobile platform 109 is the direction of force 302 generated by the user to push the mobile platform 109, and the steering wheel 103 is steered so that the mobile platform 109 moves in the direction of force 302. Force 303 is a force used to move the mobile platform 109. In the state of Fig. 3(a), the direction of movement of the steering wheel 301 and the direction of force 302 match, so the pushing force 302 and the force 303 used for movement are forces in approximately the same direction and have approximately the same magnitude.

[0024] In the state shown in FIG. 3(b), the steering wheels 103 are steered in different directions relative to the traveling direction of the mobile platform 109. Force 312 is the force with which the user pushes the mobile platform 109. Force 313 is the force used to move the mobile platform 109. Force 314 is the force acting on the steering wheel by the user. Force 315 is a force acting in the rotational direction of the steering wheel 103. Force 316 is a force acting in the axial direction of the steering wheel 103. Force 317 is a frictional force against force 316 acting in the axial direction of the steering wheel 103 at the top of the page. Force 319, like force 317, is a frictional force against the force acting in the axial direction of the steering wheel 103 at the bottom of the page.

[0025] In Fig. 3(b), force 319, which is a frictional force that is a force vector of steering wheel 103 at the bottom of the page, is applied to steering wheel 103 at the top of the page, because the frictional forces of the two wheels affect each other through moving platform 109. Similarly, force 317, which is a frictional force of steering wheel 103 at the top of the page, also affects steering wheel 103 at the bottom of the page. Force 320, which is the resultant of these frictional forces, is the resultant of forces 317 and 319 as frictional forces applied to steering wheel 103 at the top of the page, and acts in the opposite direction to force 314, causing deceleration. Similarly, the resultant of the frictional forces also acts in the opposite direction to the traveling direction of moving platform 109 on the steering wheel at the bottom of the page, causing deceleration.

[0026] In the state of FIG. 3(c), the steering wheels 103 are steered in different directions relative to the traveling direction of the movable platform 109 compared to FIG. 3b, and in the example of FIG. 3(c), the directions are different by 90 degrees. Force 322 is a force pushing the movable platform 109. Force 324 is a force acting on the steering wheel 103 at the top of the page by the user. Force 325 is a force acting in the rotational direction of the steering wheel 103 at the top of the page. Force 326 is a force acting in the axial direction of the steering wheel 103 at the top of the page. Force 327 is a frictional force against force 326 acting in the axial direction of the steering wheel 103 at the top of the page. Force 329, like force 327, is a frictional force against a force acting in the axial direction of the steering wheel 103 at the bottom of the page.

[0027] In FIG. 3(c), a force 329 as a frictional force, which is a force vector of the steering wheel 103 at the bottom of the page, is applied to the steering wheel 103 at the top of the page, because the frictional forces of the two wheels affect each other through the moving platform 109. Similarly, the force 327 as a frictional force of the steering wheel 103 at the top of the page also affects the steering wheel 103 at the bottom of the page. Then, the force 330 as the resultant frictional force is the resultant force of the forces 327 and 329 as frictional forces applied to the steering wheel 103 at the top of the page, and acts in the opposite direction to the force 324. Similarly, in the steering wheel at the bottom of the page, the resultant frictional force acts in the opposite direction to the traveling direction of the moving platform 109. Also, when the force that the user is trying to move and the force 330 acting on the two steering wheels become equal in magnitude, the moving platform 109 stops moving.

[0028] Next, the operation of the moving platform 109 in this embodiment will be described with reference to Fig. 4. In Fig. 4, the line position is detected by the line sensor 106, and the steering wheel 103 is controlled so that the moving platform 109 follows the line.

[0029] 4(a) is a diagram showing a user pushing a mobile platform 109 on a floor on which straight guiding lines are drawn. The steering wheel 103 faces in the direction in which the user pushes (the direction of travel).

[0030] FIG. 4(b) is a diagram showing a case where the mobile platform 109 is decelerated when the disturbance sensor 107 detects a disturbance in the mobile platform 109. As shown in FIG. 4(b), the steering wheels 103 are controlled to face in different directions, as shown in FIG. 4(b), and resistance is generated against the force of the user pushing the mobile platform 109 in the direction of movement (travel direction). As explained in FIG. 3(b), the user can push the mobile platform 109 forward, but the steering wheels 103 face in different directions. Therefore, the resistance of the steering wheels 103 is greater compared to FIG. 4(a), and the mobile platform 109 decelerates when the pushing force of the user is the same as in the state of FIG. 4(a).

[0031] Fig. 4(c) is a diagram showing a case where the mobile platform 109 is stopped using the steering wheel 103 when the disturbance detected by the disturbance sensor 107 is greater than that in Fig. 4(b) and it becomes necessary to stop the mobile platform 109. As explained in Fig. 3(c), the rotation directions (travel directions) of the wheels of the steering wheel 103 of the mobile platform 109 are perpendicular to each other, and the frictional forces of the wheels affect each other's rotation directions (travel directions) of the steering wheels 103. Therefore, if the force with which the user pushes the mobile platform 109 is within the range of the frictional force, the steering wheel 103 does not rotate, and the mobile platform 109 can be stopped.

[0032] Fig. 4(d) is a diagram showing a user pushing the mobile platform 109 on a floor on which a curved guiding line has been drawn. In Fig. 4(d), the mobile platform 109 is turning left along the line, and the steering wheel 103 is also facing along the line in the direction in which the user is pushing (the direction of travel).

[0033] Fig. 4(e) is a diagram showing a case where the mobile platform 109 is decelerated when the disturbance sensor 107 detects a disturbance. In Fig. 4(e), when the mobile platform 109 turns left, the speed of the mobile platform 109 is high and deceleration is necessary. As in Fig. 4(b), deceleration is achieved by controlling the steering wheels 103 in different directions. Fig. 4(e) shows a case where the mobile platform 109 is turning left, and the steering wheels 103 are controlled to turn left while decelerating.

[0034] FIG. 4(f) is a diagram for explaining the stop control of the mobile platform 109 when the disturbance detected by the disturbance sensor 107 is greater than that in FIG. 4(e) and the mobile platform 109 needs to be stopped while the mobile platform 109 is turning left. As in FIG. 4(c), the rotation directions (travel directions) of the wheels of the steering wheels 103 of the mobile platform 109 are perpendicular to each other. The frictional forces of the wheels affect the rotation directions (travel directions) of the steering wheels 103. Therefore, if the force with which the user pushes the mobile platform 109 is within the range of the frictional force, the steering wheels 103 do not rotate, and the mobile platform 109 can be stopped. Note that the state in FIG. 4(f) is a stop during a left turn, and the steering wheels 103 rotate perpendicularly while turning left, so the steering wheels 103 become asymmetrical.

[0035] 5 is a flowchart of the steering control of the movable platform 109 in this embodiment. The processing procedure described below is executed by the CPU 105a of the movable platform control device 105.

[0036] First, in step S501, when the user moves the mobile platform 109 on a line, control of the steering wheel 103 is started so that the mobile platform 109 moves along the line.

[0037] Next, in step S502, the guiding line is detected by the line sensor 106, and the steering direction of the steering wheel 103 is detected.

[0038] Next, in step S503, a process is performed in which a disturbance in the moving platform 109 is detected by the disturbance sensor 107. This process may detect the presence or absence of a disturbance, or may detect the magnitude of the disturbance.

[0039] Next, in step S504, it is determined whether or not deceleration of the mobile platform 109 is necessary based on the information (detection result) acquired in step S503. The determination in step S504 may be made by comparing the detected disturbance value with a reference value, determining whether the detected disturbance value is within a reference range, determining whether or not there is a disturbance, etc. If the magnitude of the disturbance is not such that deceleration is necessary in step S504, the process proceeds to step S505 from step S504: No. In step S505, the steering direction of the steered wheels 103 is controlled so as to follow a line based on the line sensor 106, and the process returns to step S502. If the magnitude of the disturbance is such that deceleration is necessary, the process proceeds to step S506 from step S504: YES.

[0040] In step S506, as described with reference to FIG. 3(b) and FIG. 4(b)(e), the direction of the steering wheels 103 is changed and deceleration processing is performed on the moving platform 109.

[0041] Next, in step S507, information regarding the disturbance is detected again by the disturbance sensor 107. Next, in step S508, it is determined whether or not it is necessary to stop the mobile platform 109 based on the information acquired in step S508. The determination in step S508 may be made by comparing the detected disturbance value with a reference value, or by determining whether the detected disturbance value is within a reference range. If the magnitude of the disturbance is not sufficient to require a stop in step S508, the process returns to step S502 from step S508: No. If the disturbance is sufficient to require a stop, the process proceeds to step S509 from step S508: YES.

[0042] In step S509, as described with reference to FIG. 3(c) and FIG. 4(c) and (f), the direction of the steering wheel 103 is further changed, and a stopping process is performed on the moving platform 109.

[0043] In the above, in this embodiment, a configuration has been described in which the mobile platform 109 carrying the robot decelerates and stops using the steering wheel 103 when it detects a disturbance (abnormality) while moving. In a case where the speed of the mobile platform 109 is determined by the force of the user pushing the mobile platform 109, it is possible to appropriately determine whether to decelerate or stop as necessary based on surrounding information (disturbance). This can reduce collisions caused by the user's carelessness with a robot mounted on the mobile platform, and can reduce the possibility of the mobile platform and robot tipping over. In addition, the number of devices such as brakes can be reduced, which makes it possible to reduce the size and weight of the mobile platform 109.

[0044] Second embodiment In the above-mentioned embodiment, a configuration has been described in which the mobile platform 109 carrying the robot is decelerated and stopped when it detects a disturbance (abnormality) while moving. In the present embodiment, a configuration has been described in which the mobile platform 109 carrying the robot is decelerated and stopped when it detects a target position. Note that in the following, the same reference numerals are used for configurations that are the same or equivalent to those in the above-mentioned embodiment, and their description will be omitted or simplified, and differences from the above-mentioned embodiment will be mainly described.

[0045] 6 is an XZ plan view showing the robot system 1000 in this embodiment. FIG. 6 adds an imaging device 601 and an area sensor 602 to the robot system 1000 shown in FIG. 1. The imaging device 601 is provided to detect the target position (destination) of the moving platform 109. The target position (destination) may be detected by a marker or the like. Also, the imaging device 601 may be used to detect a workpiece by image recognition when the robot performs a task, and the detection of the workpiece may be used to determine that the target position (destination) has been reached. The sensor that detects the target position, such as the imaging device 601 or the area sensor 602, may be referred to as a second detection means.

[0046] The area sensor 602 can detect the distance to an object placed around the robot system 1000, and detects the characteristic shape of the work space (work platform or fixed platform) at the target position (destination). An example of the area sensor 602 is a sensor such as a laser sensor that detects the distance to an object by emitting light or infrared rays. The area sensor 602 may also be used to monitor the environment around the robot system 1000, and may decelerate or stop the robot or the mobile platform 109 when it detects the intrusion of a user near the robot system 1000. Either the imaging device 601 or the area sensor 602 may be installed, and the target position (destination) may be detected by either one of them.

[0047] FIG. 7 is a control block diagram of the moving platform 109 in this embodiment. FIG. 7 adds an imaging device 601 and an area sensor 602 to the control block diagram shown in FIG. 2. As shown in FIG. 7, the CPU 105a acquires further information from the imaging device 601 and the area sensor 602 via the bus 110 and the I / F. When the imaging device 01 or the area sensor 602 detects the target position, a control command value for controlling the direction of the steering wheel 103 is output to the motor driver 111 of the steering unit 104 via the bus 110 and the I / F. The motor driver 111 drives and controls the motor 112 that controls the rotation direction of the steering wheel 103 based on the control command value. The motor 112 is built into each of the steering units 104, and controls the direction of the steering wheel 103.

[0048] Next, a method for detecting a target position, which is a condition for decelerating and stopping the moving platform 109 in this embodiment, will be described with reference to Fig. 8. Fig. 8 is an XY plan view of the robot system 1000. Fig. 8(a) is a diagram for explaining a method for detecting a target position using an imaging device 601. Fig. 8(b) is a diagram for explaining a method for detecting a target position using an area sensor 602.

[0049] 8(a), the imaging device 601 can capture an image at a viewing angle 803, and can detect a marker 802 mounted in the work space by image processing. As in the above-described embodiment, the user applies an external force to the mobile platform 109, which moves while controlling the steering wheel 103 in a direction following a line. During the movement, the imaging device 601 detects the presence or absence of a specific marker 802 within the viewing angle 803.

[0050] Then, as shown in Fig. 8(a), when the marker 802 enters the viewing angle 803 and is detected in the image, a change in the size of the marker 802 detects that the relative distance between the marker 802 and the imaging device 601 has fallen within a predetermined distance range. The moving platform 109 then executes the control of the steering wheel 103 described in Fig. 3(b) to perform deceleration control. In this case, the control of the steering wheel 103 is performed by taking into account not only the information from the line sensor 106, but also the information from the imaging device 601 that detects the position of the marker 802. Then, when it is detected that the relative distance between the marker 802 and the imaging device 601 has become closer and has further reached within the predetermined distance range (reached the target position), the control of the steering wheel 103 described in Fig. 3(c) is executed to perform stop control.

[0051] As shown in FIG. 8(b), the area sensor 602 can detect distance within a viewing angle 813, and can detect a physical marker 812 mounted in the workspace. As in the above-described embodiment, the user applies an external force to the mobile platform 109, which moves while controlling the steering wheel 103 in a direction following a line. During the movement, the area sensor 602 detects the presence or absence of a specific physical marker 812 within the viewing angle 813. Here, the physical marker 812 is an object with a specific, distinctive shape, and it is desirable that the shape be detectable by the area sensor 602. In this embodiment, the physical marker 812 is a part of the workspace.

[0052] Then, as shown in Fig. 8(b), the physical marker 812 enters the viewing angle 813, and it is detected that the relative distance between the physical marker 812 and the area sensor 602 is within a predetermined distance range. Then, the moving platform 109 executes the control of the steering wheel 103 described in Fig. 3(b) to perform deceleration control. In this case, the control of the steering wheel 103 is executed by taking into account not only the information from the line sensor 106, but also the information from the area sensor 602 that detects the distance from the physical marker 812. Then, when it is detected that the relative distance between the physical marker 812 and the area sensor 602 has become closer and has further reached within the predetermined distance range (reached the target position), the control of the steering wheel 103 described in Fig. 3(c) is executed to perform stop control.

[0053] Fig. 9 is a control flowchart for executing deceleration and stopping of the mobile platform 109 when a target position (destination) is detected in this embodiment. Fig. 9 differs from the control flowchart shown in Fig. 5 in that step S903 is executed instead of step S503, and step S907 is executed instead of step S507.

[0054] First, in step S501, when the user moves the mobile platform 109 on a line, control of the steering wheel 103 is started so that the mobile platform 109 moves along the line.

[0055] Next, in step S502, the guiding line is detected by the line sensor 106, and the steering direction of the steering wheel 103 is detected.

[0056] Next, in step S903, the image capturing device 601 or the area sensor 602 detects the relative distance between the moving platform 109 and the work space.

[0057] Next, in step S504, it is determined whether or not deceleration of the mobile platform 109 is necessary based on the information acquired in step S503. The determination in step S504 is made based on whether the detected relative distance information is within a range in which deceleration is necessary. If the detected relative distance information in step S504 does not indicate that deceleration is necessary, step S504: No is used to proceed to step S505. In step S505, the steering direction of the steered wheels 103 is controlled based on the line sensor 106 so that the wheels follow a line, and the process returns to step S502. If the detected relative distance information indicates that deceleration is necessary, step S504: YES is used to proceed to step S506.

[0058] In step S506, as described with reference to FIG. 3(b) and FIG. 4(b)(e), the direction of the steering wheels 103 is changed and deceleration processing is performed on the moving platform 109.

[0059] Next, in step S907, the relative distance between the moving platform 109 and the work space is detected again by the imaging device 601 or the area sensor 602.

[0060] Next, in step S508, it is determined whether or not it is necessary to stop the mobile platform 109 based on the information acquired in step S508. The determination in step S508 is made based on whether the detected relative distance information is within a range that requires stopping. If the detected relative distance information in step S508 does not require stopping, step S508: No returns to step S502. If the detected relative distance information indicates that stopping is required, step S508: YES proceeds to step S509.

[0061] In step S509, as described with reference to FIG. 3(c) and FIG. 4(c) and (f), the direction of the steering wheel 103 is further changed, and a stopping process is performed on the moving platform 109.

[0062] In the above, the embodiment has been described in which the mobile platform 109 carrying the robot decelerates and stops when the mobile platform 109 detects a target position (destination). In a mobile platform whose speed is determined by the force of the user, the target position (destination) is detected and the mobile platform 109 is decelerated and stopped, so that the positioning of the mobile platform 109 can be completed quickly and safely, and the work can be performed quickly. In addition, in a robot mounted on the mobile platform, collisions due to carelessness of the user can be reduced, and the mobile platform and the robot can be reduced from falling over. In addition, the number of devices such as brakes can be reduced, so that the mobile platform 109 can be made smaller and lighter. In addition, the above-mentioned various embodiments and modified examples may be combined and implemented.

[0063] (Third embodiment) In the various embodiments described above, the two front wheels of the mobile platform 109 are steerable and controlled as the steering wheels 103. In this embodiment, a description is given of a mode in which the mobile platform 109 is decelerated and stopped when the four wheels of the mobile platform 109 are steerable and controllable. In the following, the same reference numerals are used for configurations that are the same as or equivalent to those in the above-described embodiments, and their description is omitted or simplified, and differences from the above-described embodiments are mainly described.

[0064] FIG. 10 is a side view of the robot system 1000 in this embodiment as viewed from an arbitrary direction of the XYZ coordinate system. FIG. 1(a) is an XZ plane view, and FIG. 1(b) is an XY plane view. FIG. 10 differs from the various embodiments described above in that the moving platform 109 is provided with steering wheels 103a, 103b, 103c, and 103d. The steering wheels 103a, 103b, 103c, and 103d are provided with steering units 104a, 104b, 104c, and 104d each having an actuator built therein. The steering wheels 103, 103b, 103c, and 103d in this embodiment are the same as the steering wheel 103 in the various embodiments described above. The steering units 104a, 104b, 104c, and 104d in this embodiment are the same as the steering unit 104 in the various embodiments described above.

[0065] FIG. 11 is a control block diagram of the moving platform 109 in this embodiment. As shown in FIG. 11, motor drivers 111a, 111b, 111c, and 111d are provided to correspond to the steering units 104a, 104b, 104c, and 104d. Similarly, motors 112a, 112b, 112c, and 112d are provided. The motor drivers 111a, 111b, 111c, and 111d can communicate with the CPU 105a via the bus 110 and the I / F 105e, and can transmit information from an encoder (not shown) provided on each motor to the CPU 105a. The CPU 105a can transmit control command values ​​corresponding to the motor drivers 111a, 111b, 111c, and 111d via the bus 110 and the I / F 105e based on each sensor. Note that an imaging device 601 and an area sensor 602 may be mounted in FIG. 11.

[0066] Next, a method for decelerating and stopping the mobile platform 109 in this embodiment will be described with reference to Fig. 12. Fig. 12 shows an XY plane. For the sake of explanation, the robot arm 102 and robot control device 101 are omitted from Fig. 12. Fig. 12(a) is a schematic diagram of each steering wheel when the mobile platform 109 is moving straight ahead. Fig. 12(b) is a schematic diagram of each steering wheel when the mobile platform 109 is decelerating. Fig. 12(c) is a schematic diagram of each steering wheel when the mobile platform 109 is stopped.

[0067] In the state of FIG. 12(a), the steering wheels 103a-103d of the moving platform 109 are steered so that the moving platform 109 moves in the direction of force 1202, which is generated by the user to push the moving platform 109. Force 1203 is a force used to move the moving platform 109. Force 1203 is acting on the steering wheels 103a-103d. In the state of FIG. 12(a), the moving direction of the steering wheels 103a-103d and the direction of force 1202 match, so the pushing force 1202 and the force 1203 used for movement are forces in approximately the same direction and of approximately the same magnitude.

[0068] In the state of FIG. 12(b), the steering wheels 103a to 103d are steered in different directions relative to the traveling direction of the moving platform 109. Force 1212 is the force with which the user pushes the moving platform 109. Force 1223 is the force used to move the moving platform 109. Force 1224 is the force acting on the steering wheel 103c by the user. Force 1225 is the force acting in the rotational direction of the steering wheel 103c. Force 1226 is the force acting in the axial direction of the steering wheel 103c. Force 1227 is the frictional force against the force 1226 acting in the axial direction of the steering wheel 103c. Force 1229, like force 1227, is the frictional force against the force 1226 acting in the axial direction of the steering wheel 103a.

[0069] In FIG. 12(b), a force 1229 as a frictional force, which is a force vector of the steering wheel 103a, is applied to the steering wheel 103c, and this is because the frictional forces affect each other through the moving platform 109. Similarly, the force 1227 as a frictional force of the steering wheel 103c also affects the steering wheel 103a. Similarly, the steering wheels 103b and 103d are also affected by a frictional force similar to the frictional force that affects the steering wheels 103a and 103c. Then, the force 1220 as a resultant frictional force acting on the steering wheel 103a is a resultant force of the frictional forces 1227 and 1229, and acts in the opposite direction to the force 1224, so that the steering wheel 103a is decelerated. Similarly, a force similar to the force 1220 acts on the steering wheels 103b to 103d. This makes it possible to decelerate the moving platform 109.

[0070] In the case of a four-wheeled cart as shown in Fig. 12(c), the pair of left and right steering wheels 103a, 103b and 103b, 103d may be steered in different directions. That is, the pair of left and right steering wheels may be steered in different directions. In the various embodiments described above, two steering wheels generate a frictional force against the pushing force of the user, whereas in this embodiment, four steering wheels generate a frictional force against the pushing force, so that the car can be decelerated with a stronger frictional force.

[0071] In the state of FIG. 12(c), the steering wheels 103a to 103d are steered in different directions with respect to the traveling direction of the moving platform 109, even more so than in FIG. 12(b). That is, in the example of FIG. 12(c), the steering wheels 103a and 103c are steered in different directions by 90 degrees, and the steering wheels 103b and 103d are steered in different directions by 90 degrees. A force 1222 is a force pushing the moving platform 109. A force 1244 is a force acting on the steering wheel 103c by the user. A force 1245 is a force acting in the rotation direction of the steering wheel 103c. A force 1246 is a force acting in the axial direction of the steering wheel 103c. A force 1247 is a frictional force against the force 1246 acting in the axial direction of the steering wheel 103c. A force 1249 is a frictional force against the force acting in the axial direction of the steering wheel 103a, similar to the force 1247.

[0072] In FIG. 12(c), a frictional force 1249, which is a force vector of the steering wheel 103a, is applied to the steering wheel 103c, because the frictional forces affect each other through the moving platform 109. Similarly, the frictional force 1247 of the steering wheel 103c also affects the steering wheel 103a. Similarly, the frictional force similar to the frictional force that affects the steering wheels 103a and 103c also affects the steering wheels 103b and 103d. The frictional resultant force 1230 acting on the steering wheel 103a is the resultant force of the frictional forces 1247 and 1249, and acts in the opposite direction to the force 1244. Similarly, a force similar to the force 1230 acts on the steering wheels 103b to 103d. This makes it possible to decelerate the moving platform 109. When the force (force attempting to move) acting on the steering wheels 103a to 103c by the user becomes equal to the force 1230 acting on the four steering wheels, the moving platform 109 stops without moving.

[0073] In the case of a four-wheeled cart as shown in Fig. 12(c), the pair of left and right steering wheels 103a, 103c and 103b, 103d may be steered in different directions. That is, the pair of left and right steering wheels may be steered in different directions. In the various embodiments described above, two steering wheels generate a frictional force against the pushing force of the user, whereas in this embodiment, four steering wheels generate a frictional force against the pushing force, so that the cart can be stopped with a stronger frictional force.

[0074] Next, the operation of the moving platform 109 in this embodiment will be described with reference to Fig. 13. In Fig. 13, the line sensor 106 detects the position of the line, and the steering wheel 103 is controlled so that the moving platform 109 follows the line.

[0075] 13(a) shows a user pushing a mobile platform 109 on a floor on which straight guiding lines are drawn. The steering wheels 103a to 103d face in the direction in which the user pushes (the direction of travel), and the mobile platform moves smoothly and straight.

[0076] FIG. 13(b) is a diagram showing a case where the mobile platform 109 is decelerated when the disturbance sensor 107 detects a disturbance in the mobile platform 109. As shown in FIG. 13(b), the steering wheels 103a to 103d are controlled to face in different directions, as shown in FIG. 13(b), and resistance is generated against the force of the user pushing the mobile platform 109 in the direction of movement (travel direction). As explained in FIG. 12(b), the user can push the mobile platform 109 forward, but the steering wheels 103a to 103d face in different directions. Therefore, compared to FIG. 13(a), the resistance of the steering wheels 103 is greater, and the mobile platform 109 decelerates when the pushing force of the user is the same as in the state of FIG. 12(a).

[0077] Fig. 13(c) shows a case where the moving platform 109 is stopped using the steering wheels 103a-103d when the disturbance detected by the disturbance sensor 107 is greater than that in Fig. 13(b) and it becomes necessary to stop the moving platform 109. As explained in Fig. 12(c), the rotation direction (travel direction) of the wheels of the steering wheels 103a-103d of the moving platform 109 is 90 degrees for the steering wheels 103a and 103c, and 90 degrees for the steering wheels 103b and 103d.

[0078] Therefore, the frictional forces of the steering wheels 103a, 103c and 103b, 103d affect each other's rotational direction (traveling direction). Therefore, if the force with which the user pushes the moving platform 109 is within the range of the frictional force, the steering wheels 103a to 103d do not rotate, and the moving platform 109 can be stopped. Note that the control flowchart in this embodiment is the same as that in FIG. 5 or FIG. 9, and therefore a description thereof will be omitted.

[0079] In the above embodiment, a configuration has been described in which the four wheels of the mobile platform 109 carrying the robot are steered wheels, and the mobile platform 109 is decelerated and stopped. The rear wheels of the mobile platform 109 can also be used for deceleration and stopping, making it easier to obtain frictional force and enabling the mobile platform 109 to decelerate and stop more quickly. This can reduce collisions caused by the carelessness of the user in a robot mounted on the mobile platform, and can reduce the possibility of the mobile platform and the robot tipping over. In addition, the number of devices such as brakes can be reduced, making it possible to reduce the size and weight of the mobile platform 109. In addition, the above-mentioned various embodiments and modified examples may be combined and implemented.

[0080] (Fourth embodiment) Next, in this embodiment, a mode will be described in which the moving platform 109 is decelerated and stopped when the user is turning (rotating) the moving platform 109. In the following, the same reference numerals will be used for configurations that are the same as or equivalent to those in the above-mentioned embodiment, and their description will be omitted or simplified, and differences from the above-mentioned embodiment will be mainly described.

[0081] A method of decelerating and stopping the mobile platform 109 in this embodiment will be described with reference to Fig. 14. As in the third embodiment, the mobile platform 109 in Fig. 14 has four wheels that can be operated and controlled. Fig. 14 is shown on an XY plane. For the sake of explanation, the robot arm 102 and the robot control device 101 are omitted in Fig. 14. Fig. 14(a) is a schematic diagram of each steering wheel when the mobile platform 109 is turning. Fig. 14(b) is a schematic diagram of each steering wheel when the mobile platform 109 is decelerating. Fig. 14(c) is a schematic diagram of each steering wheel when the mobile platform 109 is stopped.

[0082] 14(a), the steering wheels 103a-103d of the mobile platform 109 are steered so that the direction of force 1415 generated by the user to push the mobile platform 109 is the direction of travel, and the mobile platform 109 rotates around reference 1416. Because the rotation direction of the steering wheels 103a-106 of the mobile platform 109 is perpendicular to reference 1416, which serves as the reference for rotation of the mobile platform 109, the mobile platform 109 receives force 1415 and rotates smoothly.

[0083] 14(b), the steering wheels 103a to 103d are being steered in different directions relative to the traveling direction (rotation direction) of the moving platform 109 caused by the force 1425. The rotation directions of the steering wheels 103a, 103b, 103c, and 103d of the moving platform 109 are inclined from the vertical direction with respect to the reference 1426, and the moving platform 109 rotates while being affected by friction against the force 1425.

[0084] This friction will be explained using the steering wheel 103c. Force 1431 is a force that the steering wheel 103c receives when it receives force 1425, centered on reference 1426. Force 1432 is a force in the rotation direction of the steering wheel 103c. Force 1433 is a force in the axial direction of the steering wheel 103c. Force 1434 is a frictional force against force 1433. Force 1435 is a frictional force that is caused by force 1434, which is a frictional force, acting on the force received by the steering wheel 103c. Force 1436 is a force that is exerted on the steering wheel 103c after it is influenced by force 1435, which is a frictional force, from force 1431 that the steering wheel 103c receives. When force 1425 is exerted, force 1436 rotates the moving platform 109, and the angle of the steering wheel 103c changes from the state shown in FIG. 14(a), so that it decelerates under the influence of force 1435, which is a frictional force. Similarly, frictional forces are generated in the steering wheels 103b, 103c, and 103d, so that it becomes possible to decelerate the moving platform 109.

[0085] 14(c), the rotation directions of the steering wheels 103a to 103d are directed toward the reference 1426. In this case, the moving platform 109 rotates while being influenced by friction against the force 1445.

[0086] This friction will be explained using steering wheel 103c. Force 1451 is the force that steering wheel 103c receives in response to force 1445, centered around reference 1446. Force 1452 is a force in the rotational direction of steering wheel 103c. Force 1453 is a force in the axial direction of steering wheel 103c. Force 1454 is a frictional force against force 1453. Force 1455 is a frictional force against force 1452. Force 1456 is a frictional force that is the influence of forces 1454 and 1455 on the force that steering wheel 103c receives.

[0087] In the case of Fig. 14(d), a force acts on the steering wheels 103a, 103b, 103c, and 103d in the axial direction against a force 1445 centered on a reference 1446. Therefore, if the frictional force of the steering wheels acts and the force that tries to rotate (move) the mobile platform 109 is within the range of the frictional force of each steering wheel, the mobile platform 109 can be stopped without rotating.

[0088] FIG. 15 shows a case where the mobile platform 109 is turned when the two wheels at the front of the mobile platform 109 are steering wheels 103 as in the first and second embodiments described above. The rotation directions of the steering wheels 103 and wheels 108 of the mobile platform 109 are perpendicular to a reference 1506 which is the center of rotation of the mobile platform. The rotation direction of the steering wheels 103 is in the same direction as the rotation direction of the mobile platform 109, and the rotation directions of the wheels 108 are opposite to each other. In FIG. 15, there are two steering wheels and two wheels. Since the rotation direction of the wheels is fixed, the center of rotation is on the axial direction of the two wheels. As described above, the mobile platform 109 receives a force 1505 and rotates smoothly.

[0089] When the moving platform 109 is to be decelerated from the state of FIG. 15, the front steering wheels 103 are controlled as shown in FIG. 14(b) as steering wheels 103a and 103c. This generates a frictional force against the force that tries to move the moving platform 109, so the moving platform 109 can be decelerated. When the moving platform 109 is to be stopped, the front steering wheels 103 are controlled as shown in FIG. 14(c) as steering wheels 103a and 103c. This generates a further frictional force against the force that tries to move the moving platform 109, so the moving platform 109 can be stopped. Note that the control flow chart in this embodiment is the same as that in FIG. 5 or FIG. 9, so a description thereof will be omitted.

[0090] In the above embodiment, a mode has been described in which the mobile platform 109 is decelerated and stopped when the user is rotating the mobile platform 109. Even when the mobile platform 109 is rotated (rotated) by the force of the user, it is possible to appropriately determine whether to decelerate or stop. This can reduce collisions caused by the user's carelessness in a robot or the like mounted on the mobile platform, and can reduce the possibility of the mobile platform and robot falling over. In addition, the number of devices such as brakes can be reduced, so that the mobile platform 109 can be made smaller and lighter. Moreover, the above-mentioned various embodiments and modified examples may be combined and implemented.

[0091] (Other embodiments) The processing procedures of the above-described embodiments are specifically executed by input from each CPU and the user. Therefore, it is also possible to configure the system to read out and execute a recording medium on which a software program capable of executing the above-described functions is recorded. In this case, the program itself read out from the recording medium realizes the functions of each of the above-described embodiments, and the program itself and the recording medium on which the program is recorded constitute the present invention.

[0092] In each embodiment, the computer-readable recording medium is a ROM, a RAM, or a flash ROM, and the control program is stored in the ROM, the RAM, or the flash ROM. However, the present invention is not limited to such an embodiment. The program for implementing the present invention may be recorded in any recording medium as long as the recording medium is computer-readable. An SSD (Solid State Drive) may be used as the storage unit.

[0093] In the various embodiments described above, the robot arm 200 is an articulated robot arm having a plurality of joints, but the number of joints is not limited to this. Although a vertical multi-axis configuration has been shown as the type of robot arm, the same configuration as above can be implemented with different types of joints, such as a horizontal multi-joint type, a parallel link type, or an orthogonal robot.

[0094] Furthermore, the various embodiments described above can be applied to machines that can automatically perform movements such as extension, contraction, bending, vertical movement, horizontal movement, or rotation, or a combination of these movements, based on information stored in a memory device provided in the control device.

[0095] In the various embodiments described above, the control for decelerating and stopping the moving platform 109 has been described as an example, but the present invention is not limited to this. For example, if the information on the disturbance acquired by the disturbance sensor 07 is within a range that requires stopping, the moving platform 109 may be stopped immediately. Also, if the position of the moving platform 109 is within the range of the target position, the moving platform 109 may be stopped immediately.

[0096] The present invention is not limited to the above-described embodiment, and many modifications are possible within the technical concept of the present invention. The effects described in the embodiments of the present invention are merely a list of the most preferable effects resulting from the present invention, and the effects of the present invention are not limited to those described in the embodiments of the present invention. The above-described various embodiments and modifications may be combined and implemented.

[0097] The disclosure of this embodiment also includes the following configurations and methods.

[0098] (Configuration 1) A mobile device having wheels whose direction can be controlled, a first detection means for detecting a state of the mobile device; controlling a direction of the wheels based on a detection result of the first detection means; A mobile device comprising:

[0099] (Configuration 2) In the mobile device according to configuration 1, The moving device is moved by a pushing force of a user. A mobile device comprising:

[0100] (Configuration 3) In the mobile device according to configuration 2, controlling a direction of the wheels when the mobile device is being moved by the user; A mobile device comprising:

[0101] (Configuration 4) In the mobile device according to any one of configurations 1 to 3, The control of the direction of the wheels can be controlled independently of the movement of the mobile device. A mobile device comprising:

[0102] (Configuration 5) In the mobile device according to any one of configurations 1 to 4, Controlling the direction of the wheels to slow down or stop the moving device. A mobile device comprising:

[0103] (Configuration 6) In the mobile device according to any one of configurations 1 to 5, At least two of the wheels are provided, By controlling an angle between the directions of the at least two wheels, the moving device is slowed down or stopped. A mobile device comprising:

[0104] (Configuration 7) 7. The mobile device according to claim 6, By controlling the directions of the at least two wheels so that the angle between them becomes 90 degrees, the moving device is decelerated or stopped. A mobile device comprising:

[0105] (Configuration 8) In the mobile device according to any one of configurations 1 to 7, There are two wheels whose direction can be controlled, and two wheels whose direction cannot be controlled. A mobile device comprising:

[0106] (Configuration 9) In the mobile device according to any one of configurations 1 to 7, There are four of the wheels capable of being directional controlled. A mobile device comprising:

[0107] (Configuration 10) In the mobile device according to any one of configurations 1 to 9, The first detection means is at least one of a sensor that detects vibrations in the moving device, a sensor that detects the attitude of the moving device, a sensor that detects a force in the moving device, a sensor that detects the speed of the moving device, a sensor that detects the difference between a target direction and a traveling direction in the moving device, a sensor that detects the weight of a loaded transported object, and an imaging device. A mobile device comprising:

[0108] (Configuration 11) In the mobile device according to any one of configurations 1 to 10, a second detection means for detecting a target position of the moving device; and decelerating or stopping the moving device by controlling a direction of the wheels based on a detection result of the second detection means. A mobile device comprising:

[0109] (Configuration 12) 12. The mobile device according to claim 11, The second detection means is at least one of a sensor that detects a distance to an object, a sensor that detects the surrounding environment, and an imaging device. A mobile device comprising:

[0110] (Configuration 13) 13. The mobile device according to any one of claims 1 to 12, a third detection means for detecting information regarding a position to which the moving device should move; Controlling the direction of the wheels based on the detection result of the third detection means. A mobile device comprising:

[0111] (Configuration 14) 14. The mobile device according to claim 13, The third detection means is at least one of a sensor for detecting a line, a GPS (Global Positioning System), and a global vision. A mobile device comprising:

[0112] (Configuration 15) A robot system comprising a moving device according to any one of configurations 1 to 14, and a robot mounted on the moving device.

[0113] (Method 16) A method for manufacturing an article, comprising the steps of: manufacturing an article using the robot system according to aspect 15.

[0114] (Method 17) A method for controlling a mobile device having wheels capable of controlling a direction, comprising the steps of: a first detection means for detecting a state of the mobile device; controlling a direction of the wheels based on a detection result of the first detection means; A control method comprising:

[0115] (Configuration 18) A control program capable of executing the control method according to method 17 by a computer.

[0116] (Configuration 19) A computer-readable recording medium storing the control program according to configuration 18. [Explanation of symbols]

[0117] 101 Robot control device 102 Robot Arm 103, 103a, 103b, 103c, 103d steering wheel 104, 104a, 104b, 104c, 104d Steering section 105 Mobile platform control device 106 Line Sensor 107 Disturbance Sensor 108 wheels 109 Mobile stand 109a Handle 109b Placement part 1000 Robot System

Claims

1. A mobile device having wheels whose direction can be controlled, a first detection means for detecting a state of the moving device; controlling a direction of the wheels based on a detection result of the first detection means; A mobile device comprising:

2. 2. The mobile device of claim 1, The moving device is moved by a pushing force of a user. A mobile device comprising:

3. 3. The mobile device according to claim 2, controlling a direction of the wheels when the mobile device is being moved by the user; A mobile device comprising:

4. 2. The mobile device of claim 1, The control of the direction of the wheels can be controlled independently of the movement of the mobile device. A mobile device comprising:

5. 2. The mobile device of claim 1, Controlling the direction of the wheels to slow down or stop the moving device. A mobile device comprising:

6. 2. The mobile device of claim 1, At least two of the wheels are provided; By controlling an angle between the directions of the at least two wheels, the moving device is decelerated or stopped. A mobile device comprising:

7. 7. The mobile device according to claim 6, By controlling the directions of the at least two wheels so that the angle between them becomes 90 degrees, the moving device is decelerated or stopped. A mobile device comprising:

8. 2. The mobile device of claim 1, Two of the wheels are directional controllable, and two of the wheels are non-directional controllable. A mobile device comprising:

9. 2. The mobile device of claim 1, There are four of the wheels capable of being directional controlled. A mobile device comprising:

10. 2. The mobile device of claim 1, The first detection means is at least one of a sensor that detects vibrations in the moving device, a sensor that detects the attitude of the moving device, a sensor that detects a force in the moving device, a sensor that detects the speed of the moving device, a sensor that detects a difference between a target direction and a traveling direction in the moving device, a sensor that detects a weight of a loaded transported object, and an imaging device. A mobile device comprising:

11. 2. The mobile device of claim 1, a second detection means for detecting a target position of the moving device; and decelerating or stopping the moving device by controlling a direction of the wheels based on a detection result of the second detection means. A mobile device comprising:

12. 12. The mobile device of claim 11, The second detection means is at least one of a sensor that detects a distance to an object, a sensor that detects a surrounding environment, and an imaging device. A mobile device comprising:

13. 2. The mobile device of claim 1, a third detection means for detecting information regarding a position to which the moving device is to move; controlling a direction of the wheels based on a detection result of the third detection means; A mobile device comprising:

14. 14. The mobile device of claim 13, The third detection means is at least one of a sensor for detecting a line, a GPS (Global Positioning System), and a global vision. A mobile device comprising:

15. A robot system comprising a robot mounted on the mobile device according to any one of claims 1 to 14.

16. A method for manufacturing an article, comprising the steps of: manufacturing an article by using the robot system according to claim 15;

17. A method for controlling a mobile device having wheels capable of controlling a direction, comprising the steps of: a first detection means for detecting a state of the moving device; controlling a direction of the wheels based on a detection result of the first detection means; A control method comprising:

18. A control program capable of executing the control method according to claim 17 by a computer.

19. A computer-readable recording medium storing the control program according to claim 18.

Images