Mobile body, control device, surrounding object detector, and monitoring device

A control device that is used for a moving device including three or more drive wheels that allows a mobile body to move in all directions, the respective drive wheels being driven independently, a rotational velocity detector that detects respective rotational velocities of the drive wheels, and an object detector that detects an object around the mobile body, the control device comprising:

• a controller that decelerates or stops the mobile body when an object is detected in a monitoring area by the object detector;
• and
• a changer that changes a range of the monitoring area on the basis of the respective rotational velocities of the drive wheels detected by the rotational velocity detector,
• wherein the changer determines whether or not the respective rotational velocities of the drive wheels are equal to or lower than a predetermined value, and changes the range of the monitoring area on the basis of a logical product of results of the determination.

A monitoring device comprising:

• a surrounding object detector having an output for decelerating or stopping an operation of a machine when a surrounding object is detected in a monitoring area;
• and
• a control device that is used in connection with the surrounding object detector and used to change a range of the monitoring area of the surrounding object detector,
• wherein the control device receives movement velocity signals from three or more independent movement velocity detectors and outputs a signal for changing the range of the monitoring area on the basis of the movement velocity signals,
• wherein the control device determines whether or not respective rotational velocities of drive wheels are equal to or lower than a predetermined value, and changes the range of the monitoring area on the basis of a logical product of results of the determination.

A mobile body comprising:

• three or more drive wheels that allows a mobile body to move in all directions, the respective drive wheels being driven independently;
• a rotational velocity detector that detects respective rotational velocities of the drive wheels;
• an object detector that detects objects around the mobile body;
• a controller that decelerates or stops the mobile body if any object is detected in a monitoring area by the object detector;
• and
• a changer that changes a range of the monitoring area on the basis of the respective rotational velocities of the drive wheels detected by the rotational velocity detector,
• wherein the controller decelerates or stops the mobile body when a calculation value indicating a state of the drive wheels calculated using the respective rotational velocities of the drive wheels are equal to or greater than a threshold value indicating an abnormality.