Patent Publication Number: US-11040453-B2

Title: Robot system

Description:
BACKGROUND 
     1. Technical Field 
     The present invention relates to a robot system. 
     2. Related Art 
     There is known a robot system that creates a component kit composed of a plurality of components using a robot including a robot arm (see, for example, JP-A-2010-188459). For example, in the robot system described in JP-A-2010-188459, the robot takes out the plurality of components necessary for producing a product from a component storage unit in which the plurality of components are stored one by one and forms a component kit on a support stand away from the component storage unit. 
     However, since the robot system described in JP-A-2010-188459 creates a component kit on a support stand away from the component storage unit, there is a problem that the number of times that the robot reciprocates between the component storage unit and the support stand increases depending on the number of component kits to be created and the number of components configuring the component kit and work efficiency is poor. 
     SUMMARY 
     An advantage of some aspects of the invention is to provide a robot system capable of efficiently creating a component kit. 
     The invention can be implemented as the following application examples or forms. 
     A robot system according to an application example includes an automatic transport device that is capable of being automatically moved, a robot arm that is installed on the automatic transport device and performs work on a target, an object recognition sensor that is disposed on the robot arm and recognizes the target, an environment recognition sensor that recognizes an environment in a direction in which the automatic transport device moves, a placement portion that is disposed on the automatic transport device and on which a plurality of component kits are allowed to be placed, and a controller that controls the automatic transport device so as to move toward a work stand based on a recognition result of the environment recognition sensor and controls the robot arm so as to transfer the plurality of component kits from the placement portion to the work stand based on a recognition result of the object recognition sensor, after controlling the robot arm so as to take out a plurality of components from a component storage unit that stores the components and create the plurality of the component kits on the placement portion based on the recognition result of the object recognition sensor. 
     According to such a robot system, since the automatic transport device is moved toward the work stand and a plurality of component kits are placed from the placement portion to the work stand to be transferred after a plurality of components are respectively taken out from the component storage unit and the plurality of component kits are created on the placement portion, it is possible to reduce the number of times that the automatic transport device reciprocates between the component storage unit and the work stand as compared with a case where the plurality of components are respectively taken out from the component storage unit and a plurality of component kits are directly created on the work stand. For that reason, it is possible to efficiently create a component kit. 
     In the robot system according to the application example, it is preferable that the object recognition sensor includes a projection unit that projects stripe-shaped pattern light to the target, an image capturing device that captures a image of the pattern light on the target, and a calculation unit (processor) that calculates a shape of the target based on an imaging result of the image capturing device and the projection device includes a light source unit that emits a line-shaped laser and an optical scanner that reflects the laser from the light source unit toward the target to scan the target. 
     With this configuration, a small object recognition sensor can be realized. 
     In the robot system according to the application example, it is preferable that the projection device includes a scanner drive unit that outputs a drive signal for non-resonantly driving the optical scanner. 
     With this configuration, it is possible to drive the optical scanner with stable amplitude and frequency even if a temperature change occurs. For that reason, a circuit for reducing characteristic change due to the temperature change becomes unnecessary and miniaturization of the object recognition sensor can be achieved. 
     In the robot system according to the application example, it is preferable that a waveform of the drive signal is sinusoidal. 
     With this configuration, it is easy to generate a drive signal. It is possible to reduce inclusion of frequencies other than a drive frequency of the optical scanner in the frequency component of the drive signal and to stably perform non-resonance driving of the optical scanner. 
     In the robot system according to the application example, it is preferable that the automatic transport device is able to move without needing a track. 
     With this configuration, equipment such as a rail for guiding traveling of the automatic transport device is unnecessary or simple and thus, the equipment cost can be reduced. 
     In the robot system according to the application example, it is preferable that the controller creates movement route information of the automatic transport device based on the recognition result of the environment recognition sensor and controls traveling of the automatic transport device based on the movement route information. 
     With this configuration, even if environment recognition by the environment recognition sensor is not performed during movement of the automatic transport device, it is possible to cause the automatic transport device to travel based on traveling route information. 
     In the robot system according to the application example, it is preferable that the controller performs movement or orientation change of the automatic transport device based on the recognition result of the object recognition sensor. 
     With this configuration, position adjustment of the automatic transport device may be performed with high accuracy. 
     In the robot system according to the application example, it is preferable that the controller is able to drive the robot arm so that the orientation of the component in the component storage unit is changed. 
     With this configuration, in a case where the orientation of the component is in a state where it is difficult for the component to be taken out by the robot arm, it is possible to change the orientation of the component to a state where the component can be easily taken out. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       The invention will be described with reference to the accompanying drawings, wherein like numbers reference like elements. 
         FIG. 1  is a perspective view schematically illustrating a robot system according to a first embodiment of the invention. 
         FIG. 2  is a block diagram illustrating a control system of the robot system illustrated in  FIG. 1 . 
         FIG. 3  is a schematic diagram of an object recognition sensor included in the robot system illustrated in  FIG. 1 . 
         FIG. 4  is a diagram illustrating a brightness and darkness state of a projection pattern (pattern light) generated by a projection device included in the object recognition sensor illustrated in  FIG. 3 . 
         FIG. 5  is a perspective view of an optical scanner included in the object recognition sensor illustrated in  FIG. 3 . 
         FIG. 6  is a diagram illustrating a waveform of a drive signal from a scanner drive unit included in the object recognition sensor illustrated in  FIG. 3 . 
         FIG. 7  is a diagram illustrating a waveform of a modulation signal (lower part in the figure) output from a light source drive unit and a deflection angle (upper part in the figure) of a movable mirror portion included in the object recognition sensor illustrated in  FIG. 3 . 
         FIG. 8  is a flowchart for explaining an operation of the robot system illustrated in  FIG. 1 . 
         FIG. 9  is a flowchart for explaining an operation in a component kit creation mode illustrated in  FIG. 8 . 
         FIG. 10  is a flowchart for explaining an operation of taking-out work illustrated in  FIG. 9 . 
         FIG. 11  is a diagram for explaining a case where components are in an unworkable state. 
         FIG. 12  is a diagram for explaining step S 34  illustrated in  FIG. 10 . 
         FIG. 13  is a diagram for explaining taking-out work of one type of component. 
         FIG. 14  is a diagram for explaining taking-out work of two types of components. 
         FIG. 15  is a diagram for explaining taking-out work of three types of components. 
         FIG. 16  is a flowchart for explaining an operation in a component kit transfer mode illustrated in  FIG. 8 . 
         FIG. 17  is a diagram illustrating a state of a work stand at the time of transfer completion. 
         FIG. 18  is a perspective view illustrating a robot used in a robot system according to a second embodiment of the invention. 
     
    
    
     DESCRIPTION OF EXEMPLARY EMBODIMENTS 
     Hereinafter, a robot system according to the invention will be described in detail based on preferred embodiments illustrated in the accompanying drawings. 
     First Embodiment 
       FIG. 1  is a perspective view schematically illustrating a robot system according to a first embodiment of the invention.  FIG. 2  is a block diagram illustrating a control system of the robot system illustrated in  FIG. 1 .  FIG. 3  is a schematic diagram of an object recognition sensor included in the robot system illustrated in  FIG. 1 .  FIG. 4  is a diagram illustrating a brightness and darkness state of a projection pattern (pattern light) generated by a projection device included in the object recognition sensor illustrated in  FIG. 3 .  FIG. 5  is a perspective view of an optical scanner included in the object recognition sensor illustrated in  FIG. 3 .  FIG. 6  is a diagram illustrating a waveform of a drive signal from a scanner drive unit included in the object recognition sensor illustrated in  FIG. 3 .  FIG. 7  is a diagram illustrating a waveform of a modulation signal (lower part in the drawing) output from a light source drive unit included in the object recognition sensor illustrated in  FIG. 3  and a deflection angle (upper part in the figure) of a movable mirror portion. 
     A robot system  100  illustrated in  FIG. 1  is a system that performs work of taking out a plurality of different types of components C 1 , C 2 , and C 3  from a component storage unit  200  (component supply unit), respectively, by a robot  1 , creating a component kit CK composed of the plurality of types of components C 1 , C 2 , and C 3 , and supplying the component kit CK to the work stand  300  (next process unit). 
     The component storage unit  200  is a component shelf having twelve storage spaces by being divided into four rows in the vertical direction and three columns (left side, middle, right side) in the horizontal direction, and a container  201  is stored in each storage space. Here, each container  201  has a tray shape or a box shape opened upward. A plurality of components C 1  are stored in each container  201  in the left side column of the component storage unit  200 . A plurality of components C 2  are stored in each container  201  in the middle column of the component storage unit  200 . A plurality of components C 3  are stored in each container  201  in the right column of the component storage unit  200 . In addition, each container  201  is disposed so as to be capable of being withdrawn from the component storage unit  200 . With this configuration, it is possible to easily take out the components C 1 , C 2 , and C 3  from each container  201 . 
     The component storage unit  200  is not limited to the number, configuration, arrangement, and the like of the illustrated storage spaces, and for example, the component storage unit  200  may be configured by a plurality of independent shelves for each type of component and in this case, the arrangement of the plurality of shelves is arbitrary. Further, if the components C 1 , C 2 , and C 3  can be placed in a state where the robot  1  can work, the container  201  may be omitted. 
     The components C 1 , C 2 , and C 3  are components of different types. Each of the components C 1 , C 2 , and C 3  is not particularly limited, but various electronic components and the like may be included, for example. A component kit CK is configured to include the components C 1 , C 2 , and C 3  one by one. The component kit CK may include components other than the components C 1 , C 2 , and C 3 , or may include a plurality of components of the same type. 
     The work stand  300  is a stand for performing work using the component kit CK. The illustrated work stand  300  includes a placement portion  301  on which the plurality of component kits CK can be placed. Work on the work stand  300  is not particularly limited, but may include, for example, assembling, painting, surface treatment, alignment, transportation, and the like of components group including the component kit CK. 
     Any work stand  300  may be adopted as long as a plurality of component kits CK or trays TR can be placed thereon, and a device such as a belt conveyor may be used instead of the work stand  300  without being limited to the configuration and arrangement illustrated in the figure. 
     The robot system  100  includes an automatic transport device  2 , a robot main body  3  including a robot arm  10  and installed on the automatic transport device  2 , an environment recognition sensor  4  disposed on the automatic transport device  2 , an object recognition sensor  5  (shape measurement unit) disposed on the robot arm  10 , a control device  6  (controller) for controlling operations of the automatic transport device  2  and the robot arm  10 , and a placement portion disposed on the automatic transport device  2 , and these components configure a robot  1  that can travel. The robot system  100  may also be said to be a system including the robot  1 , the component storage unit  200  and the work stand  300 . 
     Here, based on the recognition result of the environment recognition sensor  4 , the control device  6  can move the automatic transport device  2  so that the robot arm  10  is in a workable position with respect to the component storage unit  200  or the work stand  300 . When the robot main body  3  is at a workable position with respect to the component storage unit  200 , the control device  6  can drive the robot main body  3  to create a plurality of component kits CK on the placement portion  7  based on the recognition result of the object recognition sensor  5 . When the robot main body  3  is at a workable position with respect to the work stand  300 , the control device  6  can drive the robot main body  3  so as to transfer the plurality of component kits CK from the placement portion  7  to the work stand  300  based on the recognition result of the object recognition sensor  5 . 
     As such, the robot  1  can transfer the plurality of component kits CK to the work stand  300  after creating the component kits CK on the placement portion  7 . With this configuration, it is possible to reduce the number of times that the automatic transport device  2  reciprocates between the component storage unit  200  and the work stand  300 , thereby improving work efficiency. In the first embodiment, a plurality of trays TR are placed on the placement portion  7  before creating the component kit CK, and the component kit CK is created on the tray TR. Then, the component kit CK is transferred from the placement portion  7  to the work stand  300  for each tray TR. With this configuration, it is possible to simplify the transfer work. 
     In the following, each unit configuring the robot system  100  (robot 1) will be sequentially described. 
     Automatic Transport Device 
     The automatic transport device  2  illustrated in  FIG. 1  is an unmanned transport vehicle that can travel (move) without needing a track. Here, the expression “capable of traveling (moving) without needing a track” means that it is possible to control travelling of the automatic transport device  2  so as to be directed toward an instructed target position without requiring equipment such as a rail serving as a traveling (moving) path of the automatic transport device  2  or a guiding line for guiding the automatic transport device  2 . 
     As illustrated in  FIGS. 1 and 2 , the automatic transport device  2  includes a vehicle body  21 , a pair of front wheels  22  which are attached to the vehicle body  21  and are on the forward side which is a normal travel direction side, a pair of rear wheels  23  on the rear side, a steering mechanism  24  capable of changing a steering angle of the pair of front wheels  22 , and a drive unit  25  capable of driving the pair of rear wheels  23 . 
     As illustrated in  FIG. 1 , the placement portion  7  on which a plurality (three in the figure) of component kits CK including a plurality of components C 1 , C 2  and C 3  can be placed is provided on the upper portion of the vehicle body  21 . The placement portion  7  is configured to be able to place the component kit CK thereon in a state where the component kit CK is placed on the tray TR. Here, one component kit CK is placed on one tray TR. Accordingly, the placement portion  7  is configured to be able to place a plurality of (three in the figure) trays TR thereon. The number of trays TR that can be placed on the placement portion  7  is equal to the number of component kits CK that can be placed on the placement portion  7 . Prior to creation of the component kit CK, such a tray TR is placed on the placement portion  7  by using the robot main body  3 , or is manually placed on the placement portion  7 . 
     Each of the number of the component kits CK and the number of the trays TR that can be placed on the placement portion  7  is not limited to the illustrated number, but is arbitrary. The number of trays TR that can be placed on the placement portion  7  may be different from the number of component kits CK that can be placed on the placement portion  7 . For example, the plurality of component kits CK may be placed on one tray TR. 
     On the other hand, a pair of left and right front wheels  22  are provided on the front side and a pair of left and right rear wheels  23  are provided on the rear side, on the lower portion of the vehicle body  21 . 
     The pair of front wheels  22  are steering wheels and are attached to the vehicle body  21  via the steering mechanism  24  illustrated in  FIG. 2 . Steering of the automatic transport device  2  is performed by changing the steering angle of the pair of front wheels  22  by the steering mechanism  24 . With this configuration, the traveling direction of the vehicle body  21  can be changed. The pair of rear wheels  23  may be steerable, or all of one pair of front wheels  22  and one pair of rear wheels  23  may be steerable. 
     The pair of rear wheels  23  are driving wheels and are attached to the vehicle body  21  via the drive unit  25 . The drive unit  25  includes a drive source (not illustrated) such as a motor, and transmits the driving force of the driving source to the pair of rear wheels  23 . With this configuration, the vehicle body  21  can be caused to travel forward or backward. The pair of front wheels  22  may be drivable, or all of one pair of front wheels  22  and one pair of rear wheels  23  may be drivable. 
     A battery (not illustrated) for supplying electric power to the driving source described above is disposed in the vehicle body  21 . The battery is also used for driving the robot arm  10 , the environment recognition sensor  4 , the object recognition sensor  5 , and the like. 
     Robot Main Body 
     The robot main body  3  illustrated in  FIG. 1  is a so-called single arm  6  axis vertical articulated robot. The robot main body  3  includes a base  30  and a robot arm  10  rotatably connected to the base  30 . A hand  12  is attached to the robot arm  10  via a force detection sensor  11 . 
     The base  30  is fixed to the upper portion of the vehicle body  21  of the automatic transport device by bolts or the like (not illustrated). As an installation position of the base  30  with respect to the automatic transport device  2 , any position may be used as long as the robot main body  3  can place the plurality of components C 1 , C 2 , and C 3  on the placement portion  7  of the automatic transport device described above. The base  30  may be formed integrally with the automatic transport device  2 . 
     The robot arm  10  includes an arm  31  (first arm) rotatably connected to the base  30 , an arm  32  (second arm) rotatably connected to the arm  31 , an arm (third arm) rotatably connected to the arm  32 , an arm  34  (fourth arm) rotatably connected to the arm  33 , an arm  35  (fifth arm) rotatably connected to the arm  34 , and an arm  36  (sixth arm) rotatably connected to the arm  35 . 
     Arm drive units  13  illustrated in  FIG. 2  are respectively provided at joint portions of the arms  31  to  36 , and each of the arms  31  to  36  is rotated by driving of each of the arm drive units  13 . Here, each arm drive unit  13  includes a motor and reduction gear (not illustrated). As the motor, for example, a servo motor such as an AC servo motor and a DC servo motor, a piezoelectric motor, or the like can be used. As the reduction gear, for example, a planetary gear type speed reducer, a wave-motion gear device, or the like can be used. An angle sensor  14  such as a rotary encoder (see  FIG. 2 ) is provided in each arm drive unit  13 , and the angle sensor  14  detects the rotation angle of the rotation axis of the motor or the reduction gear of the arm drive unit  13 . 
     As illustrated in  FIG. 1 , the hand  12  is attached to the arm  36  positioned at the tip end portion of the robot arm  10  via a force detection sensor  11 . 
     The force detection sensor  11  is, for example, a six-axis force sensor capable of detecting a six-axis component of the external force applied to the force detection sensor  11 . Here, the six-axis component is the translational force (shearing force) component in the direction of each of three axes which are orthogonal to each other and the rotational force (moment) component around each axis of the three axes. The number of detection axes of the force detection sensor  11  is not limited to six, and may be, for example, one or more and five or less. 
     The hand  12  includes two fingers capable of gripping the components C 1 , C 2  and C 3 , which are targets of work of the robot system  100 . The number of fingers of the hand  12  is not limited to two, and may be three or more. Depending on the type of the components C 1 , C 2 , and C 3 , an end effector which holds the components C 1 , C 2 , and C 3  by suction or the like may be used instead of the hand  12 . 
     Environment Recognition Sensor 
     The environment recognition sensor  4  is provided at the front portion and the rear portion of the vehicle body  21  of the automatic transport device described above, respectively. The environment recognition sensor  4  ( 4   a ) provided at the front portion of the vehicle body  21  has a function of outputting a signal corresponding to existence (distance) of an object or the shape thereof (for example, a target such as the component storage unit  200 , the work stand  300 , or a wall (not illustrated), an obstacle (not illustrated) which becomes an obstacle to traveling or transporting) on the front side of the vehicle body  21 . The environment recognition sensor  4  ( 4   b ) provided at the rear portion of the vehicle body  21  has a function of outputting a signal corresponding to existence (distance) of an object or the shape thereof (for example, a target such as the component storage unit  200 , the work stand  300 , or a wall (not illustrated), an obstacle (not illustrated) which becomes an obstacle to traveling or transporting) on the rear side of the vehicle body  21 . 
     The installation position of the environment recognition sensor  4  and the number of installed environment recognition sensor  4  may be any as long as the environment recognition sensor  4  can recognize a range necessary for traveling and work of the robot  1 , for example, the environment recognition sensor  4   b  may be omitted or the environment recognition sensor  4  may be provided on at least one of the right side portion and the left side portion of the vehicle body  21  in addition to the environment recognition sensors  4   a  and  4   b,  without being limited to the position and the number of the environment recognition sensor  4  described above. The environment recognition sensor  4  may be attached to a structure such as a floor, a ceiling, a pillar or the like around the automatic transport device  2 . 
     The environment recognition sensor  4  is not particularly limited as long as it has the function described above, and it is possible to use various three-dimensional measurement machines using the time of flight (TOF) method or the like. The environment recognition sensor  4  can be configured in the same manner as the object recognition sensor  5  to be described later. However, it is preferable that the environment recognition sensor  4  has a wider measurement range (range of measurable area) than the object recognition sensor  5 . With this configuration, it is possible to recognize the environment around the robot  1  over a wide range. For that reason, the robot can reduce the number of required environment recognition sensors  4  installed, reduce the dead angle of the environment recognition sensor  4 , and improve safety. 
     In the environment recognition sensor  4 , a three-dimensional orthogonal coordinate system for representing the recognition result is set, and the environment recognition sensor  4  can output coordinate information of the object in the coordinate system as a recognition result. Here, the coordinate system set in the environment recognition sensor  4  can be correlated with a robot coordinate system (coordinate system used by the control device  6  for drive control of the robot  1 ) set in the robot  1  in the control device  6 . 
     Object Recognition Sensor 
     The object recognition sensor  5  is provided at the tip end portion of the robot arm  10  of the robot main body  3  described above. In the figure, the object recognition sensor  5  is attached to the arm  36  at the most tip end side among the arms  31  to  36  included in the robot arm  10 . The object recognition sensor  5  has a function of outputting a signal corresponding to a shape of an object (for example, components C 1 , C 2 , and C 3 , component storage unit  200 , work stand  300 , placement portion  7 , and the like) around or in the vicinity of the tip end portion of the robot arm  10 . 
     The installation position of the object recognition sensor  5  is not limited to the arm  36 , but may be other arms  31  to  35 . The number of installed object recognition sensors  5  may be two or more. 
     The object recognition sensor  5  is configured to measure the shape of the object (target) around or in the vicinity of the tip end portion of the robot arm  10 , for example, by using a phase shift method. That is, the target of which shape recognition is performed by the object recognition sensor  5  is a target for which the robot arm  10  works. A three-dimensional orthogonal coordinate system for representing the recognition result is set in the object recognition sensor  5 , and the object recognition sensor  5  outputs coordinate information of the object in the coordinate system as a recognition result. Here, the coordinate system set in the object recognition sensor  5  is correlated with the robot coordinate system (coordinate system used by the control device  6  for drive control of the robot  1 ) set in the robot  1  in the control device  6 . 
     Specifically, as illustrated in  FIG. 3 , the object recognition sensor  5  includes a projection device  51  that projects pattern light LP in a measurement range, an image capturing device  52  that captures the image of the measurement range, a circuit unit  53  electrically connected to each of the projection device  51  and the image capturing device  52 . 
     The projection device  51  has a function of projecting pattern light LP, which is image light of a stripe-shaped pattern representing a sine wave with brightness and darkness of a luminance value, in the measurement range. As illustrated in  FIG. 4 , pattern light LP is split into n parts in a predetermined direction (preferably within a range of 5 sections to sections, and is divided into 5 sections in  FIG. 4 ), and the luminance value changes along a sine wave in a predetermined direction (X direction illustrated in  FIG. 4 ) with the range of each region as one cycle. 
     As illustrated in  FIG. 3 , the projection device  51  includes a light source unit  511  that emits line shaped LL and an optical scanner  512  that performing scanning light LL while reflecting light LL from the light source unit  511  to generate pattern light LP. 
     The light source unit  511  includes a light source  5111  and lenses  5112  and  5113 . Here, the light source  5111  is, for example, a semiconductor laser. The lens  5112  is a collimating lens, and makes light transmitted through the lens  5112  a parallel light. The lens  5113  is a line generator lens (Powell lens), a cylindrical lens or a rod lens, and extends light from the light source  5111  in a line shape along a predetermined direction (Y-direction illustrated in  FIG. 4 ) to generate light LL. The lens  5112  may be provided as necessary, and may be omitted. Instead of the lens  5113 , light from the light source  5111  may be linearly extended using a concave cylindrical mirror or an optical scanner. In a case where light from the light source  5111  is in a line shape, the lens  5113  can be omitted. 
     The optical scanner  512  is a moving magnet type optical scanner, and reflects line-shaped light LL from the light source unit  511  and performing scanning with line-shaped light LL in a predetermined direction (X-direction illustrated in  FIG. 4 ) to generate pattern light LP. As illustrated in  FIG. 5 , the optical scanner  512  includes a movable mirror portion  5121 , a pair of shaft portions  5122 , a support portion  5123 , a permanent magnet  5124 , a coil  5125 , and a distortion sensor  5126 . 
     The movable mirror portion  5121  is supported so as to be swingable around a swing axis as with respect to the support portion  5123  via the pair of shaft portions  5122  (torsion bars). The movable mirror portion  5121 , the shaft portion  5122 , and the support portion  5123  are integrally formed of silicon or the like, and can be obtained by etching a silicon substrate or a silicon on insulator (SOI) substrate, for example. 
     One surface (mirror surface) of the movable mirror portion  5121  has light reflectivity and is a portion that reflects light LL from the light source unit  511 . Here, a metal film may be provided on the one surface as necessary. The movable mirror portion  5121  has a longitudinal shape along the swing axis as. With this configuration, it is possible to perform scanning with the line shaped light LL while reducing the size of the movable mirror portion  5121 . A shape of the movable mirror portion  5121  in a plan view is a quadrangle (rectangle) in the figure, but is not limited thereto, and may be, for example, an elliptical shape. Also, shapes of the shaft portion  5122  and the support portion  5123  are not limited to the illustrated shapes. 
     The permanent magnet  5124  is bonded (fixed) to the surface of the movable mirror portion  5121  opposite to the mirror surface by an adhesive or the like. The permanent magnet  5124  is, for example, a neodymium magnet, a ferrite magnet, a samarium cobalt magnet, an alnico magnet or a bonded magnet. 
     A coil  5125  is disposed immediately below (side opposite to the movable mirror portion  5121 ) the permanent magnet  5124 . This coil  5125  generates a magnetic field which interacts with the permanent magnet  5124  so as to swing the movable mirror portion  5121  around the swing axis as by energization (drive signal) from a scanner drive unit  532  (see  FIG. 3 ) which will be described later. The disposition of the permanent magnet  5124 , the coil  5125  and the like are not limited to the illustrated disposition and the like as long as the movable mirror portion  5121  can be swung around the swing axis as. 
     The distortion sensor  5126  is a piezo-resistance element provided at a boundary portion between the shaft portion  5122  and the support portion  5123 , and a resistance value changes in accordance with strain of the shaft portions  5122 . When the movable mirror portion  5121  swings (rotates) around the swing axis as, since it involves torsional deformation of the shaft portion  5122 , distortion of the shaft portion  5122  caused by the torsional deformation of the shaft portion  5122  is detected by the distortion sensor  5126  and the movement of the movable mirror portion  5121  can be grasped. This distortion sensor  5126  is obtained by doping silicon configuring the boundary portion between the shaft portion  5122  and the support portion  5123  with impurities such as phosphorus or boron. 
     An emission direction (direction of the center axis a 1 ) of pattern light LP of the projection device  51  as described above is inclined with respect to a direction of an optical axis a 2  of the image capturing device  52 . With this configuration, it is possible to measure a three-dimensional shape with high accuracy. The inclination angle is preferably in the range of 20 degrees or more and 40 degrees or less, and more preferably in the range of 25 degrees or more and 35 degrees or less. With this configuration, it is possible to measure the three-dimensional shape with high accuracy while widening the measurable range. If the inclination angle is too small, although the measurable range is widened, the measurement accuracy in the height direction is lowered, whereas if the inclination angle is too large, although the measurement accuracy in the height direction can be enhanced, the measurable range narrows. 
     The image capturing device  52  includes an imaging element  521  having a plurality of pixels and an image forming optical system  522 , and the imaging element  521  images pattern light LP projected to the measurement range through the image forming optical system  522 . 
     The imaging element  521  converts a captured image into electric signals for each pixel and outputs the electric signals. The imaging element  521  is not particularly limited, but may include, for example, a charge coupled device (CCD), a complementary metal oxide semiconductor (CMOS), or the like. 
     The image forming optical system  522  includes two lenses  5221  and  5222 , and forms an image of pattern light on an object surface in the measurement range on a light receiving surface (sensor surface) of the imaging element  521 . The number of lenses included in the image forming optical system  522  is not limited to the illustrated number as long as the imaging element  521  can image pattern light, and is arbitrary. 
     The imaging direction (optical axis a 2  direction) of the image capturing device  52  is parallel to the central axis a (see  FIG. 1 ) of the tip end portion of the robot arm  10 . With this configuration, the direction in which the tip end portion of the robot arm  10  faces can be set as the measurement range. 
     As illustrated in  FIG. 3 , the circuit unit  53  includes a light source drive unit  531  for driving the light source unit  511  of the projection device  51 , a scanner drive unit  532  for driving the optical scanner  512  of the projection device  51 , a failure determination unit  533  for determining whether or not the optical scanner  512  is faulty, and a calculation unit  534  for calculating a shape of an object (target) within the measurement range based on a signal from the imaging element  521  of the image capturing device  52 . 
     The scanner drive unit  532  illustrated in  FIG. 3  is electrically connected to the coil  5125  of the optical scanner  512 . The scanner drive unit  532  is configured to include a drive circuit for driving the coil  5125 , and as illustrated in  FIG. 6 , the scanner drive unit  532  generates a drive signal (drive current obtained by superimposing a modulation current on a bias current) of which current value varies periodically (cycle T), and supplies the drive signal to the coil  5125 . The frequency (drive frequency) of the drive signal is deviated from a resonance frequency of a vibration system including the movable mirror portion  5121  and the pair of shaft portions  5122  described above. Since the object recognition sensor  5  (circuit unit  53 ) does not include a circuit for controlling the frequency of the drive signal corresponding to the resonance frequency of the vibration system described above, the movable mirror portion  5121  is non-resonantly driven. That is, a circuit for reducing characteristic change due to temperature change becomes unnecessary, and it is possible to miniaturize the shape measurement unit. In a case where the movable mirror portion  5121  is non-resonantly driven, there is also an advantage that the activation time of the optical scanner  512  (time required for the movable mirror portion  5121  to reach a desired amplitude and frequency from the stopped state) can be shortened compared with a case where the movable mirror portion  5121  is resonantly driven. 
     Here, it is preferable that a frequency of the drive signal has a difference from the resonance frequency of the vibration system including the movable mirror portion  5121  and the pair of shaft portions  5122  so that a gain at the frequency falls within a range of 0.8 or more and 1.2 or less. Although a specific frequency of the drive signal is not particularly limited, the specific frequency is preferably within the range of 100 Hz to 4 kHz, for example. With this configuration, it is possible to easily realize non-resonant driving of the optical scanner  512  while improving measurement accuracy of the object recognition sensor  5  (shape measurement unit). 
     In particular, the drive signal output from the scanner drive unit  532  has a sinusoidal waveform (see  FIG. 6 ). With this configuration, the frequency component of the drive signal becomes a single (drive frequency only), so that generation of the drive signal (forming of waveform) can be simplified. Since the drive signal does not include other frequency components other than the drive frequency, it is possible to reduce resonance driving of the movable mirror portion  5121  by the other frequency components. As a result, it is possible to stably drive the movable mirror portion  5121  non-resonantly. 
     The light source drive unit  531  illustrated in  FIG. 3  is electrically connected to the light source  5111  of the light source unit  511 . The light source drive unit  531  is configured to include a drive circuit for driving the light source  5111 , generates a modulation signal (drive current obtained by superimposing a modulation current on a bias current) having a current value periodically changing, and supplies the modulation signal to the light source  5111 . The modulation signal generated by the light source drive unit  531  is a signal having a waveform that is approximately sinusoidal. 
     However, as described above, the drive signal output by the scanner drive unit  532  is a sine wave signal (signal having a waveform of a sinusoidal waveform). For that reason, the scanning speed on a projection plane  55  (plane perpendicular to a line segment connecting the optical scanner  512  and a target of measurement projection) of light LL scanned by the optical scanner  512  varies depending on the swing angle as the movable mirror portion  5121  swings, and is not constant. Accordingly, if the modulation signal generated by the light source drive unit  531  is a sine wave signal, the projected pattern light LP does not become an intended stripe-shaped pattern. Accordingly, in order to correct this, the waveform of the modulation signal generated by the light source drive unit  531  is different from the sinusoidal waveform (waveform illustrated in the upper part of  FIG. 7 ) as illustrated in the lower part of  FIG. 7 . Specifically, when the deflection angle of the movable mirror portion  5121  is θ, the drive frequency is f, the maximum amplitude (mechanical angle) is θmax, the distance between the MEMS mirror and the projection surface is h, the time is t, the luminance range is A, and the luminance offset is B, laser luminance is expressed by equation (1). 
     
       
         
           
             
               
                 
                   
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     With this configuration, even if the speed of the deflection angle of the optical scanner  512  is not constant, it is possible to draw a stripe-shaped pattern light LP representing a sine wave with brightness and darkness of the luminance value as illustrated in  FIG. 4 . 
     The light source drive unit  531  is capable of outputting a drive signal of which phases are shifted by π/2. With this configuration, it is possible to generate stripe-shaped pattern light LP of which phases are shifted by π/2. 
     The failure determination unit  533  illustrated in  FIG. 3  is electrically connected to the distortion sensor  5126  (see  FIG. 5 ) of the optical scanner  512 . Based on a resistance value of the distortion sensor  5126 , the failure determination unit  533  determines whether or not the optical scanner  512  is faulty (not functioning normally). For example, the failure determination unit  533  measures the resistance value of the distortion sensor  5126 , and determines that the optical scanner  512  is faulty when change (frequency) of the resistance value is not synchronized with the frequency of the drive signal. Here, the distortion sensor  5126  and the failure determination unit  533  configure a failure detection unit  54  for detecting a failure of the optical scanner  512 . 
     Although it is not illustrated, the calculation unit  534  illustrated in  FIG. 3  includes a processor such as a central processing unit (CPU) and a memory such as a read only memory (ROM) and a random access memory (RAM). The calculation unit  534  calculates the shape of the object based on the image capturing result of the image capturing device  52  by executing a measurement program stored in the memory by the processor. 
     The object recognition sensor  5  as described above projects pattern light LP from the projection device  51  toward the measurement range and images projected pattern light LP by the image capturing device  52 . In this case, for example, the light source drive unit  531  outputs four drive signals shifted in phase by π/2, and pattern light LP projected with the phase shifted by π/2 is projected four times, and the image capturing device  52  images the projected pattern light LP each time. In the luminance values at the same coordinates of the four captured images obtained by imaging conducted four times, even if an absolute value varies depending on a surface condition, color, or the like of a measurement target at that coordinate, a relative value changes by the phase difference of pattern light LP. With this configuration, it is possible to obtain a phase value of the stripe-shaped pattern at that coordinates while reducing the influence of ambient light and the surface condition of the measurement object and the like. 
     Here, the phase value is first obtained in the range of −π to +π for each stripe-shape of the stripe-shaped pattern, not a continuous value in the captured image. Then, such phase values are phase-linked (phase-connected) so as to be consecutive values in the captured image. With this configuration, the shape of the measurement target can be measured based on the phase value. 
     As described above, the object recognition sensor  5  described above includes the projection device  51  that projects stripe-shaped pattern light LP to the target, the image capturing device  52  that images pattern light LP, and the calculation unit  534  that calculates the shape of the object based on the imaging result of the image capturing device  52 . The projection device  51  includes the light source unit  511  that emits light LL that is a line-shaped laser and the optical scanner  512  that reflects light LL from the light source unit  511  toward the target to scan the target. With this configuration, a small object recognition sensor  5  can be realized. 
     The projection device  51  includes the scanner drive unit  532  that outputs a drive signal for non-resonantly driving the optical scanner  512 . With this configuration, even when temperature change occurs, the optical scanner  512  can be driven with stable amplitude and frequency. For that reason, a circuit for reducing characteristic change due to the temperature change is unnecessary, and the object recognition sensor  5  can be miniaturized. 
     The waveform of the drive signal output by the scanner drive unit  532  is sinusoidal (see  FIG. 6 ). With this configuration, it is easy to generate the drive signal. It is possible to reduce inclusion of frequencies other than the drive frequency of the optical scanner  512  in the frequency component of the drive signal and to stably perform non-resonance driving of the optical scanner  512 . 
     Control Device 
     The control device  6  (controller) illustrated in  FIG. 2  has a function of controlling driving of the automatic transport device  2  and the robot arm  10  based on recognition results of the environment recognition sensor  4  and the object recognition sensor  5 . 
     The control device  6  (controller) includes a processor  61  such as a central processing unit (CPU) and a memory  62  (storage unit) such as a read only memory (ROM) and a random access memory (RAM). The control device  6  is disposed in the vehicle body  21  of the automatic transport device  2 , but is not limited thereto, and for example, may be disposed in the base  30  of the robot main body  3 , outside the vehicle body  21 , or the like. 
     In the memory  62 , a program for performing drive control of the automatic transport device  2  and the robot arm  10 , component shape information of the components C 1 , C 2 , and C 3  as targets of work and map information of the environment in which the robot system  100  is used (environment around the robot  1 ) are stored. Here, the map information includes position information and shape information of an object (component storage unit  200 , work stand  300 , and the like) in the environment in which the robot  1  is used. 
     The processor  61  appropriately reads and executes the programs and various information stored in the memory  62 , thereby performing drive control of the automatic transport device  2  and the robot arm  10 . 
     In such a control device  6 , a robot coordinate system is set as a coordinate system used by the control device  6  for drive control of the automatic transport device  2  and the robot arm  10 . This robot coordinate system is correlated with the coordinate system which is set at the tip end portion (for example, tool center point) of the robot arm  10 . With this configuration, the control device  6  can set the tip end portion of the robot arm  10  or the hand to a desired position and orientation. As described above, the robot coordinate system is also correlated with the coordinate system set in the environment recognition sensor  4  and the object recognition sensor  5 , and the automatic transport device  2  and the robot arm  10  can be operated as desired, based on the recognition results of the environment recognition sensor  4  and the object recognition sensor  5 . 
     In the following, drive control of the automatic transport device  2  and the robot arm  10  by the control device  6  will be described. 
       FIG. 8  is a flowchart for explaining an operation of the robot system illustrated in  FIG. 1 .  FIG. 9  is a flowchart for explaining an operation in a component kit creation mode illustrated in  FIG. 8 .  FIG. 10  is a flowchart for explaining an operation of taking-out work illustrated in  FIG. 9 .  FIG. 11  is a diagram for explaining a case where components are in an unworkable state.  FIG. 12  is a diagram for explaining step S 34  illustrated in  FIG. 10 .  FIG. 13  is a diagram for explaining taking-out work of one type of component.  FIG. 14  is a diagram for explaining taking-out work of two types of components.  FIG. 15  is a diagram for explaining taking-out work of three types of components.  FIG. 16  is a flowchart for explaining an operation in a component kit transfer mode illustrated in  FIG. 8 .  FIG. 17  is a diagram illustrating a state of a work stand at the time of transfer completion. 
     As illustrated in  FIG. 8 , the control device  6  has a component kit creation mode (step S 1 ) and a component kit transfer mode (step S 2 ), and sequentially executes these modes. Here, the component kit creation mode is a mode in which the components C 1 , C 2 , and C 3  are taken out from the component storage unit  200  and a plurality of component kits CK are created on the placement portion  7 . The component kit transfer mode is a mode in which the plurality of component kits CK are transferred from the placement portion  7  to the work stand  300 . Each mode will be described in detail below. 
     Component Kit Creation Mode 
     In the component kit creation mode, as illustrated in  FIG. 9 , a target component is first set (step S 11 ). This target component is any one of the components C 1 , C 2 , and C 3 , for example, the component C 1  is set as the target component. 
     Next, it is determined whether or not the position of the robot  1  (more specifically, automatic transport device  2 ) based on the recognition result of the environment recognition sensor  4  is a stop position (step S 12 ). In this case, the current position of the automatic transport device  2  is ascertained by collating map information (especially, position information of the component storage unit  200 ) stored in the memory  62  with the recognition result of the environment recognition sensor  4 . Then, the current position is compared with the position of the component storage unit  200  in the map information, and it is determined whether or not the current position is the stop position. This stop position is a position (work position) at which the robot arm  10  can work on the target component or a position at which the object recognition sensor  5  can recognize a target position (position at which the target component exists) of the component storage unit  200 . 
     In a case where the current position of the automatic transport device  2  based on the recognition result of the environment recognition sensor  4  is not the stop position (NO in step S 12 ), the automatic transport device  2  is moved to the stop position based on the recognition result of the environment recognition sensor  4  (step S 13 ). In this case, a traveling route to the stop position of the automatic transport device  2  may be determined by using the result of comparison in step S 12  described above and driving of the automatic transport device  2  may be controlled based on a traveling route, and driving of the automatic transport device  2  may be controlled so that the current position of the automatic transport device  2  coincides with the stop position, while collating the map information stored in the memory  62  with the recognition result of the environment recognition sensor  4 . After such step S 13 , processing proceeds to step S 14  to be described later. It is preferable that driving of the robot arm  10  is stopped while the automatic transport device  2  is being driven (moving) (the same is also true during movement of automatic transport device  2  in other steps). With this configuration, for example, it is possible to reduce damage of the object recognition sensor  5  attached to the robot arm  10  due to impact or the like. 
     Here, it is preferable that the control device  6  (controller) creates traveling route information (movement route information) of the automatic transport device  2  based on the recognition result of the environment recognition sensor  4  and controls traveling of the automatic transport device  2  based on the traveling route information. With this configuration, even if the environment recognition sensor  4  does not recognize the environment during the movement of the automatic transport device  2 , it is possible to cause the automatic transport device  2  to travel based on the traveling route information. 
     On the other hand, in a case where the current position of the automatic transport device  2  based on the recognition result of the environment recognition sensor  4  is the stop position (YES in step S 12 ), it is determined whether or not the position of the robot (more specifically, automatic transport device  2 ) based on the recognition result of the object recognition sensor  5  is the stop position (step S 14 ). In this case, the current position of the automatic transport device  2  is ascertained by collating map information (particularly, shape information of the component storage unit  200 ) stored in the memory  62  with the recognition result of the object recognition sensor  5 . Then, the current position is compared with a work position (for example, position of the container  201  to be subjected to work) of the component storage unit  200  in the map information, and it is determined whether or not the current position is the stop position. This stop position is a position where the robot arm  10  can work on the target component. 
     In a case where the current position of the automatic transport device  2  based on the recognition result of the object recognition sensor  5  is not the stop position (NO in step S 14 ), the automatic transport device  2  is moved to the stop position based on the recognition result of the object recognition sensor  5  (step S 15 ). With this configuration, fine adjustment of the position of the automatic transport device  2  can be performed. In this case, the traveling route to the stop position of the automatic transport device  2  may be determined by using the result of comparison in step S 14  described above and driving of the automatic transport device  2  may be controlled based on the traveling route, and driving of the automatic transport device  2  may be controlled so that the current position of the automatic transport device  2  coincides with the stop position, while collating the map information stored in the memory  62  with the recognition result of the object recognition sensor  5 . After such step S 15 , processing proceeds to step S 16  to be described later. 
     As such, the control device  6  (controller) moves the automatic transport device  2  or changes the orientation of the automatic transport device  2  based on the recognition result of the object recognition sensor  5  as necessary. With this configuration, the position adjustment of the automatic transport device  2  can be performed with high accuracy. 
     On the other hand, in a case where the current position of the automatic transport device  2  based on the recognition result of the object recognition sensor  5  is the stop position (YES in step S 14 ), the target component is recognized based on the recognition result of the object recognition sensor  5  (step S 16 ). In this case, the target container  201  is taken out using the hand  12 . Then, the position and orientation of the target component in the container  201  are ascertained by collating the shape information (shape information of the target component among the components C 1 , C 2 , and C 3 ) stored in the memory  62  with the recognition result of the object recognition sensor  5 . 
     Next, taking-out work of the target component is performed (step S 17 ). In this case, as illustrated in  FIG. 10 , first, one component to be taken out is specified among the plurality of target components in the container  201  (step S 32 ). Then, it is determined whether or not work is possible (step S 33 ). In this case, as illustrated in  FIG. 11 , in a case where all of the plurality of target components (components C 1  in the figure) overlap each other, it is determined that work is impossible. 
     In a case where it is determined that work is impossible (NO in step S 33 ), a state of the target component is changed (step S 34 ). In this case, as illustrated in  FIG. 12 , by using the hand  12 , the states of a plurality of target components are changed so that the plurality of target components do not overlap each other. Here, for example, the hand  12  is moved to at least one of the central axis direction b 1  and the width direction b 2  to perform work such as pecking, rolling, and leveling on at least one target component. This step S 34  is repeated until it is determined that work is possible (NO in step S 35 ). 
     As such, the control device  6  (controller) can drive the robot arm  10  so that the orientation of the components C 1 , C 2  or C 3  in the component storage unit  200  is changed. With this configuration, when the orientation of the components C 1 , C 2  or C 3  is in a state difficult to take out by the robot arm  10 , it is possible to change the orientation of the component C 1 , C 2  or C 3  to a state where it is easy to take out. 
     In a case where it is determined that the work can be performed (YES in steps S 33  and S 35 ), work to take out the target component is performed (step S 36 ). In this case, the position and orientation are ascertained by collating the shape information (shape information of the target component out of the components C 1 , C 2 , and C 3 ) stored in the memory  62  with the recognition result of the object recognition sensor  5 . Then, based on the position and orientation, the robot arm  10  and the hand  12  are operated to grip the target component with the hand  12  to be placed on the placement portion  7 . It is preferable that driving of the automatic transport device  2  is stopped during driving (during work) of the robot arm  10  (the same applies to transfer work to be described later). With this configuration, working accuracy can be improved. 
     Such taking-out work is repeated until the number of components taken out reaches the set number (three in the case of the first embodiment) (NO in step S 18 ). By repeating taking-out work in this way, as illustrated in  FIG. 13 , the target component (component C 1  in the figure) is placed on each tray TR on the placement portion  7 . Then, in a case where the number of components taken out reaches the set number, it is determined whether or not creation of the component kit CK is completed (step S 19 ). In this case, when the component placed on each tray TR is one (see  FIG. 13 ) or two (see  FIG. 14 ) of the components C 1 , C 2 , and C 3 , it is determined that the creation of the component kit CK is not completed (NO in step S 19 ), and the target component is changed (step S 20 ). In this case, for example, in the case illustrated in  FIG. 13 , the target component is changed to the component C 2 , and in the case illustrated in  FIG. 14 , the target component is changed to C 3 . Then, processing proceeds to step S 12  described above. 
     As illustrated in  FIG. 15 , when all of the components C 1 , C 2 , and C 3  are placed on each tray TR, it is determined that creation of the component kit CK is completed (YES in step S 19 ), the component kit creation mode (step S 1  illustrated in  FIG. 8 ) is ended, and processing proceeds to the component kit transfer mode (step S 2  illustrated in  FIG. 8 ). 
     Component Kit Transfer Mode 
     In the component kit transfer mode, as illustrated in  FIG. 16 , first, a transfer destination is set (step S 21 ). This transfer destination is the work stand  300 . 
     Next, it is determined whether or not the position of the robot  1  (more specifically, automatic transport device  2 ) based on the recognition result of the environment recognition sensor  4  is a stop position (step S 22 ). In this case, by collating the map information (particularly, position information of the work stand  300 ) stored in the memory  62  with the recognition result of the environment recognition sensor  4 , the current position of the automatic transport device  2  is ascertained. Then, the current position is compared with the position of the work stand  300  in the map information, and it is determined whether or not the current position is the stop position. This stop position is a position (work position) where the robot arm  10  can place the component kit CK on the placement portion  301  or a position where the object recognition sensor  5  can recognize the placement portion  301  of the work stand  300 . 
     In a case where the current position of the automatic transport device  2  based on the recognition result of the environment recognition sensor  4  is not the stop position (NO in step S 22 ), the automatic transport device  2  is moved to the stop position based on the recognition result of the environment recognition sensor  4  (step S 23 ). In this case, the traveling route to the stop position of the automatic transport device  2  may be determined by using the result of comparison in step S 22  described above and driving of the automatic transport device  2  may be controlled based on the traveling route, and driving of the automatic transport device  2  may be controlled so that the current position of the automatic transport device  2  coincides with the stop position, while collating the map information stored in the memory  62  with the recognition result of the environment recognition sensor  4 . After such step S 23 , processing proceeds to step S 24  to be described later. 
     On the other hand, in a case where the current position of the automatic transport device  2  based on the recognition result of the environment recognition sensor  4  is the stop position (YES in step S 22 ), it is determined whether or not the position of the robot (more specifically, automatic transport device  2 ) based on the recognition result of the object recognition sensor  5  is the stop position (step S 24 ). In this case, the current position of the automatic transport device  2  is ascertained by collating the map information (particularly, shape information of the work stand  300 ) stored in the memory  62  with the recognition result of the object recognition sensor  5 . Then, the current position is compared with the work position (for example, position of the placement portion  301 ) of the work stand  300  in the map information, and it is determined whether or not the current position is the stop position. This stop position is a position where the robot arm  10  can place the component kit CK on the placement portion  301 . 
     In a case where the current position of the automatic transport device  2  based on the recognition result of the object recognition sensor  5  is not the stop position (NO in step S 24 ), the automatic transport device  2  is moved to the stop position based on the recognition result of the object recognition sensor  5  (step S 25 ). With this configuration, fine adjustment of the position of the automatic transport device  2  can be performed. In this case, the traveling route to the stop position of the automatic transport device  2  may be determined by using the result of comparison in step S 24  described above and driving of the automatic transport device  2  may be controlled based on the traveling route, and driving of the automatic transport device  2  may be controlled so that the current position of the automatic transport device  2  coincides with the stop position, while collating the map information stored in the memory  62  with the recognition result of the object recognition sensor  5 . After such step S 25 , processing proceeds to step S 26  to be described later. 
     On the other hand, in a case where the current position of the automatic transport device  2  based on the recognition result of the object recognition sensor  5  is the stop position (YES in step S 24 ), the placement portion  301  which is the transfer destination is recognized, based on the recognition result of the object recognition sensor  5  (step S 26 ). In this case, the position and the orientation of the placement portion  301  are ascertained by collating information (shape information of the work stand  300 ) stored in the memory  62  with the recognition result of the object recognition sensor 5. 
     Next, the transfer work of the component kit CK is performed (step S 27 ). In this case, the tray TR is gripped by the hand  12 , and the component kit CK is transferred from the placement portion  7  to the placement portion  301  for each tray TR. Then, it is determined whether or not transfer of the component kit CK is completed (step S 28 ). In a case where it is determined that the transfer of the component kit CK is not completed (NO in step S 28 ), the transfer destination is changed as necessary (step S 29 ). Then, processing proceeds to step S 22  described above. With this configuration, as illustrated in  FIG. 17 , all the component kits CK can be transferred on the placement portion  301 . 
     In a case where it is determined that the transfer of the component kit CK is completed (YES in step S 28 ), the component kit transfer mode (step S 2  illustrated in  FIG. 8 ) is ended. 
     The robot system  100  as described above includes the automatic transport device  2  that can be automatically moved, the single robot arm  10  that is installed on the automatic transport device  2  and performs work on a target, the object recognition sensor  5  that is disposed on the robot arm and recognizes the target, the environment recognition sensor  4  that recognizes an environment in a direction in which the automatic transport device  2  moves. In particular, the robot system  100  includes the placement portion  7  which is disposed on the automatic transport device  2  and on which a plurality of component kits CK including a plurality of types of components C 1 , C 2 , and C 3  different from each other can be placed, and the control device  6  that is a controller that controls driving of the automatic transport device  2  and the robot arm  10  based on the recognition result of the environment recognition sensor  4  and the object recognition sensor  5 . Then, the control device  6  controls driving of the automatic transport device  2  so as to move toward the work stand  300  disposed at a position different from the component storage unit  200  based on the recognition result of the environment recognition sensor  4  and controls driving of the robot arm  10  so as to transfer the plurality of component kits CK from the placement portion  7  to the work stand  300  based on the recognition result of the object recognition sensor  5  after controlling driving of the robot arm  10  so as to take out the plurality of components C 1 , C 2 , and C 3  from the component storage unit  200  that stores the plurality of components C 1 , C 2 , and C 3  based on the recognition result of the object recognition sensor  5  and creates the plurality of the component kits CK on the placement portion 7. 
     According to such a robot system  100 , since the automatic transport device  2  is moved toward the work stand  300  and the plurality of component kits CK are directly transferred from the placement portion  7  to the work stand  300  after the plurality of components C 1 , C 2 , and C 3  are respectively taken out from the component storage unit  200  and the plurality of component kits CK are created on the placement portion  7 , it is possible to reduce the number of times that the automatic transport device  2  reciprocates between the component storage unit  200  and the work stand  300  as compared with a case where the plurality of components C 1 , C 2 , and C 3  are respectively taken out from the component storage unit  200  and the plurality of component kits CK are created on the work stand  300 . For that reason, it is possible to efficiently create a component kit. 
     Here, the automatic transport device  2  is able to move without needing a track. With this configuration, equipment such as a rail for guiding traveling route of the automatic transport device is unnecessary or simple and thus, the equipment cost can be reduced. In the case where the traveling route necessary for work is constant, the automatic transport device  2  may travel along a rail or the like. 
     Second Embodiment 
       FIG. 18  is a perspective view illustrating a robot used in a robot system according to a second embodiment of the invention. 
     The second embodiment is the same as the first embodiment described above except that the invention is applied to a dual arm robot. In the following, the second embodiment will be described mainly on differences from the first embodiment described above, and description of similar matters will be omitted. 
     A robot system  100 A includes an automatic transport device  2 A, a robot main body  3 A which is installed on the automatic transport device  2 A and includes two robot arms  10 A, the environment recognition sensor  4  disposed on the automatic transport device  2 A, the object recognition sensors  5  (shape measurement unit) respectively disposed on the automatic transport device  2 A and each robot arm  10 A, a control device  6 A (controller) that controls the operation of the automatic transport device  2 A and each robot arm  10 A, and a placement portion  7 A disposed on the automatic transport device  2 A, and these components configure a robot  1 A that can travel. 
     The automatic transport device  2 A includes a vehicle body  211 , a pair of front wheels  22 A and a pair of rear wheels  23 A attached to the vehicle body  211 , a pillar portion  212  erected on the vehicle body  211 , a steering mechanism (not illustrated) capable of changing the steering angle of the pair of front wheels  21 A, and a drive unit (not illustrated) capable of driving the pair of rear wheels  23 A. Here, the placement portion  7 A on which the plurality of component kits CK of the first embodiment described above can be placed is attached to the pillar portion  212 . 
     The robot main body  3 A is a multi-arm robot, and includes a base  30 A (body portion) connected to the upper portion of the pillar portion  212  of the automatic transport device  2 A and two robot arms  10 A rotatably connected to the right and left of the base  30 A. A hand  12 A is connected to each robot arm  10 A via a force detection sensor  11 A. Here, on the base  30 A, the environment recognition sensor  4  and the object recognition sensor  5  are disposed. The base  30 A is fixedly installed to the automatic transport device  2 A and can be said to be a portion of the automatic transport device  2 A. 
     Each robot arm  10 A includes an arm  31 A (first arm), an arm  32 A (second arm), an arm  33 A (third arm), an arm  34 A (fourth arm), an arm  35 A (fifth arm), an arm  36 A (sixth arm), and an arm  37 A (seventh arm). These arms  31 A to  37 A are connected in this order from the base end side to the tip end side. Between the arms  31 A to  37 A, two adjacent arms are rotatable with each other. Here, the object recognition sensor  5  is disposed on the arm  37 A of each robot arm  10 A. 
     The control device  6 A (controller) has a function of controlling driving of the automatic transport device  2 A and the robot arm  10 A based on the recognition results of the environment recognition sensor  4  and the object recognition sensor  5 . 
     More specifically, the control device  6 A is able to move the automatic transport device  2 A so that each robot arm  10 A is positioned at a workable position with respect to the component storage unit  200  or the work stand  300  of the first embodiment described above, based on the recognition result of the environment recognition sensor  4 . When the robot main body  3 A (robot arm  10 A) is positioned at the workable position with respect to the component storage unit  200 , the control device  6 A can drive the robot main body  3 A so as to create the plurality of component kits CK on the placement portion  7 A, based on the recognition result of the object recognition sensor  5 . When the robot main body  3 A is positioned at the workable position with respect to the work stand  300 , the control device  6 A can drive the robot main body  3 A so as to transfer the plurality of component kits CK from the placement portion  7 A to the work stand  300 , based on the recognition result of the object recognition sensor  5 . The object recognition sensor  5  may not be disposed in all of the base  30 A and each robot arm  10 A, but may be disposed in any one or two of the base  30 A and each robot arm  10 A. 
     Also, according to the second embodiment as described above, the same effects as those of the first embodiment described above can be achieved. In the robot system  100 A of the second embodiment, the number of the robot arms  10 A is two. With this configuration, work efficiency can be improved and more complicated work can be performed. Further, it is possible not only to create the component kit CK on the placement portion  7 A, but also to perform work such as assembling the component kit CK on the placement portion  7 A. 
     Although the robot system according to the invention has been described based on the illustrated embodiments, the invention is not limited thereto, and the configuration of each unit can be replaced with any configuration having the same function. Also, any other constituent element may be added to the invention. 
     The invention may be a combination of any two or more configurations (characteristics) of the embodiments described above. 
     In the embodiments described above, a case where the component kit CK including three types of components C 1 , C 2 , and C 3  is created is described as an example, but the number and types of components configuring the component kit CK are not limited thereto, for example, the number of components included in the component kit CK may be two or four or more, and the component kit CK may include a plurality of components of the same kind. 
     Also, the number of arms (number of joints) included in the robot arm is not limited to the number (6 or 7) of the embodiments described above, and may be 1 or more to 5 or less, or 8 or more. 
     The object recognition sensor suffices if the robot arm can obtain a recognition result that is workable on the object and is not limited to the configurations of the embodiments described above. For example, the object recognition sensor may be a sensor using a method other than a phase shift method (for example, TOF method), or a sensor having a configuration in which the projection device projects pattern light using a liquid crystal panel. 
     Further, in the embodiments described above, the case where the optical scanner used for the object recognition sensor is a moving magnet type optical scanner is described as an example, but a driving method of the optical scanner is not limited thereto, and may be a moving coil method, an electrostatic driving method, a piezoelectric drive system or the like. 
     The entire disclosure of Japanese Patent Application No. 2017-187414, filed Sep. 28, 2017 is expressly incorporated by reference herein.