JP2016021703A - Moving body - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a moving body which can avoid an obstacle.SOLUTION: A moving body 1 includes a movement part 2 which moves along a guide member 7. The movement part 2 includes a body part 9 and a holding part (for example, a first holding part 10 and a second holding part 11) which is disposed on the body part 9 to be capable of being open and closed in a manner to surround an axis which extends to the extending direction of the guide member 7, in a state that the movement part 2 is installed on the guide member 7. Here, preferably the moving body 1 includes: a detection unit 3 which detects an obstacle existent on the guide member 7 in the state that the movement part 2 is installed on the guide member 7; and a control unit 6 which causes the holding part to open and close on the basis of a detection signal of the detection unit 3.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a mobile object, for example, a mobile object capable of avoiding an obstacle.

  In recent years, there has been a demand for a moving body that is equipped with an imaging unit and moves along a guide member in order to capture powerful images in fields such as a robot that moves a guide member to perform work, entertainment, and sports broadcasting.

  Here, Patent Document 1 discloses a flaw detection robot that can handle a change in the outer diameter of a column by sandwiching the column with a driving roller provided in the parallel link mechanism and displacing the parallel link mechanism. ing.

JP 2004-37210 A

  The flaw detection robot of Patent Document 1 is configured to be able to cope with a change in the outer diameter of the column, but when an obstacle protrudes from the column, the obstacle is avoided in the movable range of the parallel link mechanism. I can't do it.

  An object of the present invention is to solve the above-described problem, and to provide a moving body that can avoid an obstacle.

A moving body according to an aspect of the present invention is
A moving unit that moves along the guide member;
The moving unit is
The main body,
A gripping portion provided on the main body portion so as to be openable and closable so as to surround an axis extending in a direction in which the guide member extends in a state where the moving portion is installed on the guide member;
Is provided.

  ADVANTAGE OF THE INVENTION According to this invention, the mobile body which can avoid an obstruction can be provided.

FIG. 2 is an external view schematically showing a moving body according to the first embodiment. FIG. 3 is a plan view schematically showing the moving body according to the first embodiment. FIG. 3 is a bottom view schematically showing the moving body according to the first embodiment. FIG. 3 is a front view schematically showing the moving body according to the first embodiment. 3 is a block diagram of a control system for a moving body according to Embodiment 1. FIG. It is a flowchart figure which shows the flow in which a moving body avoids the obstruction which protrudes from a pillar. It is a front view for demonstrating the flow in which a moving body avoids the obstruction which protrudes from a pillar. It is a front view for demonstrating the flow in which a moving body avoids the obstruction which protrudes from a pillar. It is a top view for demonstrating the flow in which a mobile body avoids the obstruction which protrudes from a pillar. It is a front view for demonstrating the flow in which a moving body avoids the obstruction which protrudes from a pillar. It is a front view for demonstrating the flow in which a moving body avoids the obstruction which protrudes from a pillar. It is a front view for demonstrating the flow in which a moving body avoids the obstruction which protrudes from a pillar. It is a front view for demonstrating the flow in which a moving body avoids the obstruction which protrudes from a pillar. It is a front view for demonstrating the flow in which a moving body avoids the obstruction which protrudes from a pillar. 6 is a diagram schematically showing a drive unit used in Embodiment 2. FIG.

  A moving body according to an embodiment of the present invention will be described. However, the present invention is not limited to the following embodiment. In addition, for clarity of explanation, the following description and drawings are simplified as appropriate.

<Embodiment 1>
First, the outline of the moving body of the present embodiment will be described. The moving body according to the present embodiment includes a moving unit that moves along the guide member. The moving unit extends in the state where the main body unit and the moving unit are installed on the guide member. And a gripping part that can be opened and closed on the main body so as to surround a shaft extending in the direction (for example, the central axis of the guide member).

  Such a moving part can open the said holding part largely from the state which the holding part hold | gripped the guide member, for example, can avoid the obstacle which protrudes from a guide member favorably, and can pass.

  Next, the moving body of the present embodiment will be specifically described. FIG. 1 is an external view schematically showing a moving body of the present embodiment, and shows a main body portion, a first grip portion, and a second grip portion when gripping a guide member. FIG. 2 is a plan view schematically showing the moving body of the present embodiment, and shows the main body and the first grip when gripping the guide member. FIG. 3 is a bottom view schematically showing the moving body of the present embodiment, and shows the main body portion and the second grip portion when gripping the guide member. FIG. 4 is a front view schematically showing the moving body of the present embodiment. FIG. 5 is a block diagram of the control system of the moving body according to the present embodiment. 1 to 3, the guide member is indicated by a two-dot chain line.

  As shown in FIGS. 1 to 5, the moving body 1 includes a moving unit 2, a detecting unit 3, an imaging unit 4, an operation unit 5, and a control unit 6. The moving part 2 moves along the guide member 7 as described above. As shown in FIGS. 1 to 3, the guide member 7 of the present embodiment is a columnar body having a circular cross-sectional shape (hereinafter, described with the same reference numerals as the guide member). Therefore, the moving unit 2 of the present embodiment rises or descends along the column body 7. However, the guide member 7 is not limited to the column body, and may be a long member arranged substantially horizontally, and the cross-sectional shape may be a polygon instead of a circle.

  The moving unit 2 of the present embodiment includes a main body unit 9, a first gripping unit 10, a second gripping unit 11, a first driving unit 12, a second driving unit 13, a third driving unit 14, 4 driving section 15, fifth driving section 16 and sixth driving section 17.

  The main body 9 has a basic form of a part of a cylindrical member. The main body portion 9 of the present embodiment is a box member that is curved so as to correspond to the circumferential surface of the columnar body 7 and has a longitudinal direction in the height direction, and the battery and the control unit 6 are mounted therein. Yes.

  And the expansion angle of the said main-body part 9 seeing from the height direction of the main-body part 9 so that it may not interfere with the obstruction which protrudes from the said pillar-body 7 in the radial direction in the state which installed the mobile body 1 in the column body 7, θ (see FIG. 2) is less than 180 °.

  The first grip 10 is disposed at one end of the main body 9 in the height direction, and includes a first opening / closing member 10a and a second opening / closing member 10b. The first opening / closing member 10 a has a part of a cylindrical member common to the main body 9 as a basic form, and is rotatably provided at one end in the width direction of the main body 9. The first opening / closing member 10 a of the present embodiment is an arm member that is curved so as to correspond to the circumferential surface of the column body 7, and a rotary shaft whose one end extends in the height direction of the moving unit 2. It is connected to the main body 9 via

  Such a first opening / closing member 10a has a width direction of the moving unit 2 with respect to the main body 9 by the driving force of the motor 18 mounted on the main body 9 or the first opening / closing member 10a around the rotation axis. Opens and closes (rotates).

  The second opening / closing member 10b also has a part of a cylindrical member that is common to the main body 9 as a basic form, and is rotatably provided at the other end of the main body 9 in the width direction. The second opening / closing member 10b of the present embodiment is an arm member that is curved so as to correspond to the circumferential surface of the columnar body 7, and one end portion of the rotating shaft extends in the height direction of the moving unit 2. It is connected to the main body 9 via

  The second opening / closing member 10b has a width direction of the moving unit 2 with respect to the main body 9 by the driving force of the motor 19 mounted on the main body 9 or the second opening / closing member 10b around the rotation axis. Open and close.

  Thus, the first opening / closing member 10a and the second opening / closing member 10b that are closed so as to be hugged to the column body 7 and the main body portion 9 have a larger inner diameter than the diameter of the column body 7, or A partly discontinuous cylinder is formed. In other words, the first opening / closing member 10a and the second opening / closing member 10b in the closed state and the main body 9 substantially surround the circumferential surface of the columnar body 7.

  Since the second gripping part 11 has substantially the same configuration as the first gripping part 10, a detailed description thereof is omitted, but is provided at the other end in the height direction of the main body part 9. The second gripping part 11 includes a third opening / closing member 11a and a fourth opening / closing member 11b. Each opening / closing member 11a, 11b is driven in the width direction of the moving part 2 by the driving force of the motors 20, 21. Open and close.

  Accordingly, the third opening / closing member 11a and the fourth opening / closing member 11b and the main body 9 closed so as to be hugged by the column body 7 are larger than the diameter of the column body 7 and are closed. A continuous or partially discontinuous cylindrical body is formed which is equal to the cylindrical body formed by the first opening / closing member 10a and the second opening / closing member 10b and the main body 9. That is, the third opening / closing member 11 a and the fourth opening / closing member 11 b in the closed state and the main body portion 9 substantially surround the circumferential surface of the column body 7.

  The motors 18, 19, 20 and 21 each operate based on a control signal input from the control unit 6.

  In addition, although the main-body part 9, the 1st holding part 10, and the 2nd holding part 11 of this Embodiment are curved shapes, what is necessary is just to form suitably so that the external shape of the pillar 7 may be followed. In this embodiment, each opening / closing member is opened and closed using a motor. However, each opening / closing member may be opened and closed using a cylinder or the like, for example.

  The first drive unit 12, the second drive unit 13, the third drive unit 14, the fourth drive unit 15, the fifth drive unit 16, and the sixth drive unit 17 are configured so that the moving unit 2 is the column body 7. It is a drive means for making it move along. However, the number of drive units is not particularly limited.

  The first drive unit 12 is provided at one end in the height direction of the main body 9 on the surface of the main body 9 facing the column body 7, and the height of the moving unit 2 (that is, movement) The wheel 12a that can rotate in the state in which the part 2 is installed on the column 7 is rotated by the driving force of the motor 12b. The second driving unit 13 is provided at the other end in the height direction of the main body 9 on the surface of the main body 9 facing the column body 7 and is rotatable in the height direction of the moving unit 2. The wheel 13a is rotationally driven by the driving force of the motor 13b.

  The third driving unit 14 is provided on the surface of the first opening / closing member 10a facing the column body 7, and the wheel 14a that can rotate in the height direction of the moving unit 2 is rotationally driven by the driving force of the motor 14b. To do. The 4th drive part 15 is provided in the surface facing the column 7 of the 2nd opening-and-closing member 10b, and the wheel 15a which can rotate in the height direction of the moving part 2 is rotationally driven with the drive force of the motor 15b. To do.

  The fifth driving unit 16 is provided on the surface of the third opening / closing member 11a facing the column body 7, and the wheel 16a that can rotate in the height direction of the moving unit 2 is rotationally driven by the driving force of the motor 16b. To do. The sixth driving unit 17 is provided on the surface of the fourth opening / closing member 11b facing the column body 7, and the wheel 17a that can rotate in the height direction of the moving unit 2 is driven to rotate by the driving force of the motor 17b. To do.

  The motors 12b, 13b, 14b, 15b, 16b and 17b operate based on control signals input from the control unit 6, respectively.

  Here, the first driving unit 12, the third driving unit 14, the fourth driving unit 15, the second driving unit 13, the fifth driving unit 16, and the sixth driving unit 17 are the moving unit 2. Are installed in the column 7 and are preferably arranged at substantially equal intervals in the circumferential direction of the column 7 as viewed from the height direction of the moving part 2. Thereby, the drive force of each drive part can be transmitted to the column 7 satisfactorily.

  When the first opening / closing member 10a, the second opening / closing member 10b, the third opening / closing member 11a, and the fourth opening / closing member 11b are closed so as to be hugged to the column body 7, and the moving unit 2 is installed in the column body 7, Wheels 12a of the first drive unit 12, wheels 13a of the second drive unit 13, wheels 14a of the third drive unit 14, wheels 15a of the fourth drive unit 15, wheels 16a of the fifth drive unit 16, and The wheels 17a of the sixth drive unit 17 are in contact with the column bodies 7, respectively.

  At this time, the first opening / closing member 10a and the second opening / closing member 10b in the closed state and the main body 9 are connected via the first driving unit 12, the third driving unit 14, and the fourth driving unit 15. The column 7 is gripped. Further, the third opening / closing member 11 a and the fourth opening / closing member 11 b and the main body 9 in the closed state are connected to the column via the second driving unit 13, the fifth driving unit 16, and the sixth driving unit 17. Hold the body 7. As a result, the moving unit 2 is supported by the column body 7 with the first opening / closing member 10a and the second opening / closing member 10b or the third opening / closing member 11a and the fourth opening / closing member 11b closed.

  By the way, each drive unit has an elastic member (not shown) such as a spring for displacing the wheel in the radial direction of the column 7 and pressing the column 7 with the moving unit 2 installed on the column 7. It is preferable to provide. Thereby, the difference in the thickness (diameter) of the column 7 can be absorbed, and the wheel can be favorably pressed against the column 7.

  However, each driving unit may include an actuator that is controlled based on a detection signal of a separately provided pressure sensor so as to press the wheel against the column body 7 with a predetermined pressure.

  The detection unit 3 detects an obstacle that exists in the extending direction of the column body 7 and thus in the traveling direction of the moving unit 2. The detection unit 3 according to the present embodiment includes a distance measuring sensor, for example. And the detection part 3 is provided in the both sides | surfaces arrange | positioned in the height direction of the main-body part 9 one by one, and the both side surfaces arrange | positioned in the height direction of the 1st opening / closing member 10a and the 2nd opening / closing member 10b. Are provided one by one on each side surface of the third opening / closing member 11a and the fourth opening / closing member 11b arranged in the height direction. The detection signal of each detection unit 3 is output to the control unit 6. However, the number of the detection units 3 is not particularly limited as long as an obstacle present in the traveling direction of the moving unit 2 can be detected satisfactorily.

  The imaging unit 4 includes an imaging element such as a general CCD (Charge Coupled Device) or CMOS (Complementary Metal-Oxide Semiconductor), and can be tilted (so-called tilt) or shaken (so-called pan). It is said that. The imaging unit 4 is provided on the surface opposite to the surface of the main body unit 9 facing the column body 7.

  The operation unit 5 is operated by an operator to control the moving unit 2 and the imaging unit 4, and outputs an operation signal to the control unit 6 through wireless communication or wired communication.

  Although details will be described later, the control unit 6 controls the moving unit 2 and the imaging unit 4 based on an operation signal input from the operation unit 5, and the first based on the detection signal input from the detection unit 3. The opening and closing member 10a and the second opening and closing member 10b are opened and closed, and the third opening and closing member 11a and the fourth opening and closing member 11b are opened and closed.

  Next, a flow for avoiding obstacles such as scaffolds protruding in the radial direction of the column body 7 with the column body 7 interposed therebetween will be described. Here, FIG. 6 is a flowchart showing a flow in which the moving body avoids the obstacle protruding in the radial direction of the column body with the column body interposed therebetween. 7 to 14 are diagrams for explaining a flow in which the moving body avoids an obstacle protruding in the radial direction of the column body with the column body interposed therebetween. In the following description, the moving body 1 will be described on the assumption that it rises along the column body 7. However, the principle of lowering is the same as that of rising.

  First, as shown in FIG. 1, when the operator installs the moving body 1 on the column 7 and operates the operation unit 5, the control unit 6 controls the motor of the first drive unit 12 based on the input operation signal. 12b, motor 13b of the second drive unit 13, motor 14b of the third drive unit 14, motor 15b of the fourth drive unit 15, motor 16b of the fifth drive unit 16, and motors of the sixth drive unit 17 17b and the image pickup unit 4 are controlled. Accordingly, the moving body 1 rises along the column body 7, and the imaging unit 4 starts image acquisition (S1).

  Next, the control unit 6 determines whether or not a detection signal is input from any of the detection unit 3 provided on the upper surface of the main body unit 9, the first opening / closing member 10a, and the second opening / closing member 10b ( S2). If the detection signal is not input from the detection unit 3 (NO in S2), the control unit 6 returns to the step S1 and continues the movement of the moving body 1.

  On the other hand, as shown in FIG. 7, when there is an obstacle 7a projecting from the column body 7 on both sides in the traveling direction of the moving body 1 (that is, upward), a detection signal is input from the detection unit 3 ( The control unit 6 controls the motors 18 and 19 to open the first opening / closing member 10a and the second opening / closing member 10b from the closed state, as shown in FIGS. S3).

  As a result, the first opening / closing member 10a and the second opening / closing member 10b open like so-called gull wings, and the other ends of the first opening / closing member 10a and the second opening / closing member 10b are the thickness of the moving part 2. It is arranged at a position higher than one end in the direction. And the main-body part 9, the 1st opening / closing member 10a, and the 2nd opening / closing member 10b are one area | region between the obstruction 7a in the pillar 7 and the obstruction 7a (In FIG. In the upper region). The moving unit 2 is supported by the column body 7 by the main body 9, the third opening / closing member 11a, and the fourth opening / closing member 11b.

  And as shown in FIG. 10, the control part 6 is at least a 2nd drive part so that it may pass the obstruction 7a of the column 7 in the state which opened the 1st opening / closing member 10a and the 2nd opening / closing member 10b. The motor 13b, the motor 16b of the fifth drive unit 16, and the motor 17b of the sixth drive unit 17 are each controlled (S4). At this time, as described above, the main body 9, the first opening / closing member 10 a, and the second opening / closing member 10 b are disposed in one region of the column body 7 between the obstacle 7 a and the obstacle 7 a. Therefore, the main body 9, the first opening / closing member 10a, and the second opening / closing member 10b do not interfere with the obstacle 7a protruding from the column body 7 on both sides.

  Next, the control unit 6 is provided on the lower surfaces of the detection unit 3 provided on the upper surfaces of the third opening / closing member 11a and the fourth opening / closing member 11b, and the first opening / closing member 10a and the second opening / closing member 10b. It is determined whether a detection signal is input from any of the detection units 3 (S5). If the detection signal is not input from the detection unit 3 (NO in S5), the control unit 6 returns to the step S4 and continues the movement of the moving body 1.

  On the other hand, when the detection signal is input from the detection unit 3 (YES in S5), the control unit 6 closes the first opening / closing member 10a and the second opening / closing member 10b from the opened state as shown in FIG. Therefore, the motors 18 and 19 are respectively controlled. Then, as shown in FIG. 12, the controller 6 controls the motors 20 and 21 to open the third opening / closing member 11a and the fourth opening / closing member 11b from the closed state (S6).

  As a result, the third opening / closing member 11a and the fourth opening / closing member 11b open like a so-called gull wing, and the other ends of the third opening / closing member 11a and the second opening / closing member 11b are the thickness of the moving part 2. It is arranged at a position higher than one end in the direction. And the main-body part 9, the 3rd opening-and-closing member 11a, and the 4th opening-and-closing member 11b are one area | region between the obstruction 7a in the pillar 7 and the obstruction 7a (In FIG. In the upper region). The moving unit 2 is supported by the column body 7 by the main body 9, the first opening / closing member 10a, and the second opening / closing member 10b.

  And as shown in FIG. 13, the control part 6 is at least 1st drive part in order to pass the obstruction 7a of the column 7 in the state which opened the 3rd opening-and-closing member 11a and the 4th opening-and-closing member 11b. The motor 12b, the motor 14b of the third drive unit 14, and the motor 15b of the fourth drive unit 15 are each controlled (S7). At this time, as described above, the main body 9, the third opening / closing member 11 a, and the fourth opening / closing member 11 b are disposed in one region of the column body 7 between the obstacle 7 a and the obstacle 7 a. Therefore, the main body 9, the third opening / closing member 11 a, and the fourth opening / closing member 11 b do not interfere with the obstacle 7 a protruding from the column body 7 on both sides of the column body 7.

  Next, the control unit 6 determines whether or not a detection signal is input from any of the detection unit 3 provided on the lower surface of the main body unit 9, the third opening / closing member 11a, and the fourth opening / closing member 11b ( S8). If the detection signal is not input from the detection unit 3 (NO in S8), the control unit 6 returns to the step S7 and continues the movement of the moving body 1.

  On the other hand, when the detection signal is input from the detection unit 3 (YES in S8), the control unit 6 closes the third opening / closing member 11a and the fourth opening / closing member 11b from the opened state as shown in FIG. Therefore, the motors 20 and 21 are respectively controlled (S9).

  As described above, the moving body 1 according to the present embodiment opens and closes the first gripping portion 10 and the second gripping portion 11 based on the detection signal of the detection portion 3, so that the obstacle 7 a of the columnar body 7 is opened. It can be avoided.

  Moreover, since the moving body 1 of the present embodiment includes the first gripping portion 10 and the second gripping portion 11, the moving body 1 is supported by the column body 7 with one gripping portion, while the other gripping portion 10 is supported. Obstacles can be avoided by the grip portion.

  In the present embodiment, the first opening / closing member 10a, the second opening / closing member 10b, the third opening / closing member 11a, and the third opening / closing member 11b are opened like a gull wing. The protruding obstacle 7a can be favorably avoided.

<Embodiment 2>
The drive units 12, 13, 14, 15, 16 and 17 of the first embodiment are configured to rotate the wheels 12 a, 13 a, 14 a, 15 a, 16 a and 17 a only in the height direction of the moving unit 2. However, it is preferable that the wheel can be rotationally driven not only in the height direction of the moving unit 2 but also in the circumferential direction of the moving unit 2.

  FIG. 15 is a diagram schematically showing a drive unit used in the present embodiment. As shown in FIG. 15, the drive unit 30 of the present embodiment includes a wheel 31, a first actuator 32, and a second actuator 33.

  The first actuator 32 is a drive unit that supports the wheel 31 and rotates the wheel 31 about the rotation shaft 32 a of the wheel 31. The second actuator 33 is a driving unit that supports the wheel 31 and turns the wheel 31 about the turning shaft 33 a of the wheel 31. The motors of the first actuator 32 and the second actuator 33 are controlled based on a control signal input from the control unit 6.

  Such a drive unit 30 is used in place of each drive unit of the first embodiment, and the turning shaft 33a of the second actuator 33 is arranged on the approximate diameter of the inner diameter of the moving unit 2 in a state where each opening and closing member is closed. As described above, the driving unit 30 is provided in the moving unit 2.

  Thereby, in a state where the moving body 1 is installed on the column body 7, the rotation shaft 32 a of the wheel 31 in the driving unit 30 is moved in a direction substantially orthogonal to the extending direction of the column body 7 by the driving force of the second actuator 33. When arranged, the moving part 2 can be moved in the extending direction of the columnar body 7 by the driving force of the first actuator 32.

  On the other hand, when the rotating shaft 32 a of the wheel 31 in the driving unit 30 is arranged substantially parallel to the extending direction of the column body 7 by the driving force of the second actuator 33, the moving unit 2 is moved to the column by the driving force of the first actuator 32. The body 7 can be moved in the circumferential direction.

  Thereby, the mobile body 1 can be moved in all directions. In particular, when the obstacle 7a of the column body 7 is irregularly arranged in the circumferential direction of the column body 7, the moving body 1 can be favorably moved according to the position of the obstacle 7a.

  The present invention is not limited to the above-described embodiment, and can be changed as appropriate without departing from the spirit of the present invention.

  In the above embodiment, the surface of the first opening / closing member 10a that faces the third opening / closing member 11a, the surface of the second opening / closing member 10b that faces the fourth opening / closing member 11b, and the third opening / closing member 11a. Although the detection part 3 is provided in the surface facing the 1st opening / closing member 10a and the surface facing the 2nd opening / closing member 10b of the 4th opening / closing member 11b, respectively, the 3rd opening / closing of the 1st opening / closing member 10a is provided. The surface facing the member 11a and the surface facing the fourth opening / closing member 11b of the second opening / closing member 10b, or the surface facing the first opening / closing member 10a of the third opening / closing member 11a and the fourth opening / closing member 11b. The detection part 3 should just be provided in the surface facing the 2nd opening-and-closing member 10b. Further, the detection unit 3 of the main body unit 9 may be omitted.

  The first gripping portion 10 of the above embodiment includes the first opening / closing member 10a and the second opening / closing member 10b. However, one opening / closing member is omitted and one opening / closing member is used together with the body portion 9. The structure which hold | grips the column body 7 may be sufficient. The same applies to the second grip 11.

  In the above embodiment, the first grip portion 10 and the second grip portion 11 are provided. However, the number of grip portions is not particularly limited. For example, when the guide member is substantially horizontal, the main body portion 9 is guided. Even if the guide member is not gripped by another gripping part during the obstacle avoidance operation by the gripping part by being arranged above the member, the moving part 2 is supported by the guide member, so that only one gripping part may be provided. .

  In the above embodiment, the first opening / closing member 10a and the second opening / closing member 10b, or the third opening / closing member 11a and the fourth opening / closing member 11b are opened and closed simultaneously. The opening / closing member may be opened and closed.

  In the said embodiment, although the operator has controlled the moving body 1 by operating the operation part 5, the structure which carries out autonomous driving | running | working may be sufficient as the moving body 1. FIG.

DESCRIPTION OF SYMBOLS 1 Moving body 2 Moving part 7 Guide member (column body), 7a Obstacle 9 Main-body part 10 1st holding part 11 2nd holding part

Claims (7)

A moving unit that moves along the guide member;
The moving unit is
The main body,
A gripping portion provided on the main body portion so as to be openable and closable so as to surround an axis extending in a direction in which the guide member extends in a state where the moving portion is installed on the guide member;
A moving object comprising: In a state where the moving unit is installed on the guide member, a detection unit that detects an obstacle present on the guide member;
A control unit for opening and closing the gripping unit based on a detection signal of the detection unit;
The moving body according to claim 1, comprising: As the gripping portion, the first gripping portion and the second gripping portion that are arranged with an interval in the extending direction of the guide member in a state where the moving portion is installed on the guide member,
As the detection unit, a first detection unit that is provided in the first gripping unit, detects an obstacle present in the guide member in a state where the moving unit is installed on the guide member, and the second A second detection unit that is provided in a gripping unit and detects an obstacle present in the guide member in a state where the moving unit is installed on the guide member;
When the detection signal is input from the first detection unit, the control unit opens the first gripping unit to move the moving unit, and when the detection signal is input from the second detection unit. The moving body according to claim 2, wherein the second grip portion is opened. The first gripping portion includes a first opening and closing member and a second opening and closing member provided to be openable and closable on both sides in the circumferential direction of the guide member in the main body portion in a state where the moving portion is installed on the guide member. An opening and closing member,
The second gripping portion includes a third opening and closing member provided to be openable and closable on both sides of the guide member in the circumferential direction in the main body portion in a state where the moving portion is installed on the guide member. The moving body according to claim 3, comprising an opening / closing member. The moving unit includes a driving unit,
5. The moving body according to claim 1, wherein the driving unit is arranged in a circumferential direction of the guide member in a state where the moving unit is installed on the guide member.   The moving body according to claim 5, wherein the driving unit is displaceable in a radial direction of the guide member in a state where the moving unit is installed on the guide member.   The moving body according to any one of claims 1 to 6, further comprising an imaging unit provided in the moving unit.

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