JP7251262B2 - Mobiles, Robots and Mobiles - Google Patents

Description

The present invention relates to movable bodies, robots, and moving bodies.

Patent Literature 1 discloses a system in which a capacitive proximity sensor is arranged on an arm of an industrial robot, and proximity between the arm and another object is detected based on the output value of the proximity sensor.

Japanese Unexamined Patent Application Publication No. 2010-10116

However, in a movable body in which a capacitive proximity sensor is arranged, there is a dead area in which the approach of an object cannot be detected on the proximal side of the detection area in which the approach of the object can be detected. Therefore, when an object is positioned in the dead area, the object cannot be detected even though the object is very close to the movable body, and the movable body may collide with the object.

The movable body of the present invention includes a proximity sensor arranged on the outer surface of the exterior member and detecting the approach of another object and outputting a signal;
an insulating member disposed outside the exterior member and covering the proximity sensor;
The proximity sensor is positioned between a detection area for detecting the approach of the object when the output value is equal to or greater than a threshold, and between the proximity sensor and the detection area, and the output value is less than the threshold for detecting the object. and a proximal dead area that does not detect the approach of
The insulating member is arranged in the proximal dead region.

1 is an overall view showing a robot according to a first embodiment of the invention; FIG. 2 is a side view showing the placement of the sensors of FIG. 1; FIG. Fig. 10 shows a sensor; 4 is a plan view showing the electrodes of the sensor; FIG. 4 is a graph showing the relationship between the distance to an object and the output value; FIG. 11 shows a sensor according to a second embodiment of the invention; 4 is a graph showing the relationship between the distance to an object and the output value; FIG. 10 is a diagram showing a sensor according to a third embodiment of the invention; It is a figure showing the mobile concerning a 4th embodiment of the present invention.

DETAILED DESCRIPTION OF THE INVENTION A movable body, a robot, and a mobile body according to the present invention will be described below in detail based on preferred embodiments shown in the accompanying drawings.

<First embodiment>
FIG. 1 is an overall view showing a robot according to a first embodiment of the invention. 2 is a side view showing the arrangement of the sensors of FIG. 1; FIG. FIG. 3 is a diagram showing a sensor. FIG. 4 is a plan view showing the electrodes of the sensor. FIG. 5 is a graph showing the relationship between the distance to the object and the output value.

The robot 1 shown in FIG. 1 can perform operations such as supplying, removing, transporting, and assembling precision equipment and parts constituting the same. The robot 1 includes a robot body 2 that performs a predetermined task, one or more sensors 3 that are attached to the robot body 2 and detect the approach of a person as an object, and a robot controller that controls the driving of the robot body 2. a device 8;

The robot body 2 is a 6-axis robot, and has a base 20 fixed to a floor, a wall, a ceiling, or the like, an arm 21 as a movable body, and an end effector 22 attached to the tip of the arm 21 . The arm 21 includes a first arm 211 rotatably connected to the base 20 , a second arm 212 rotatably connected to the first arm 211 , and a second arm 212 rotatably connected to the second arm 212 . a third arm 213 connected to the third arm 213; a fourth arm 214 rotatably connected to the third arm 213; a fifth arm 215 rotatably connected to the fourth arm 214; and a sixth arm 216 rotatably connected to the fifth arm 215 , and the end effector 22 is attached to the sixth arm 216 .

The robot body 2 also includes a first drive device 251 that rotates the first arm 211 with respect to the base 20, a second drive device 252 that rotates the second arm 212 with respect to the first arm 211, A third driving device 253 for rotating the third arm 213 with respect to the second arm 212 , a fourth driving device 254 for rotating the fourth arm 214 with respect to the third arm 213 , and It has a fifth driving device 255 that rotates the fifth arm 215 and a sixth driving device 256 that rotates the sixth arm 216 with respect to the fifth arm 215 .

Each of the first to sixth drive devices 251 to 256 has, for example, a motor as a drive source, a controller that controls the drive of the motor, and an encoder that detects the amount of rotation of the motor. The first to sixth driving devices 251 to 256 are independently controlled by the robot control device 8, respectively.

However, the configuration of the robot body 2 is not particularly limited, and for example, the number of arms may be five or less, or may be seven or more. Further, for example, the robot main body 2 may be a SCARA robot, a dual-arm robot, or the like.

The robot control device 8 receives a position command for the robot body 2 from a host computer (not shown), and controls the first to sixth drive devices 251 to 256 so that the arms 211 to 216 are positioned according to the received position commands. Each drive is controlled independently. The robot control device 8 is composed of, for example, a computer, and has a processor (CPU) for processing information, a memory communicably connected to the processor, and an external interface. Various programs executable by the processor are stored in the memory, and the processor can read and execute various programs stored in the memory.

The sensor 3 is located outside the robot body 2 and arranged on the outer surface of the robot body 2 . In particular, in this embodiment, a plurality of sensors 3 are provided at the hatched locations in FIG. However, the arrangement of the sensor 3 is not particularly limited as long as it is arranged on at least a part of the arm 21, and it is arranged on one or more arms arbitrarily selected from the first to sixth arms 211 to 216. It is good if there is Also, for example, the sensor 3 may be arranged on the base 20 .

Since the plurality of sensors 3 have the same configuration, one sensor 3 will be described below as a representative for convenience of description, and the description of the other sensors 3 will be omitted.

As shown in FIG. 3 , the sensor 3 has a proximity sensor 31 and an insulating member 39 covering the proximity sensor 31 . The proximity sensor 31 is a capacitive sensor that detects approach of the person H based on a change in capacitance. In particular, the proximity sensor 31 of the present embodiment is a mutual capacitance type capacitance sensor. This further improves detection accuracy.

The proximity sensor 31 has an electrode 32 that senses a change in capacitance as the person H approaches, and a circuit 34 electrically connected to the electrode 32 . The arm 21 has an exterior member 210 housing wiring and a driving device inside, and the electrodes 32 are arranged on the outer surface 2100 of the exterior member 210 . That is, the electrodes 32 are positioned outside the exterior member 210 . In addition, the exterior member 210 is made of, for example, ceramics, resin, or the like, and is hard and has insulating properties.

Moreover, the electrode 32 has a detection electrode 321 and a drive electrode 322 to which an alternating voltage is applied. Moreover, as shown in FIG. 4, the detection electrode 321 and the drive electrode 322 are provided apart from each other. The detection electrode 321 and the drive electrode 322 each have a comb-teeth shape in a plan view, and the comb-teeth of the detection electrode 321 and the comb-teeth of the drive electrode 322 are arranged to mesh with each other while being separated from each other. When an alternating voltage is applied from the circuit 34 to the drive electrodes 322 , an electric field is generated between the detection electrodes 321 and the drive electrodes 322 . When the person H approaches the electrode 32 with the electric field generated, the electric field between the detection electrode 321 and the drive electrode 322 changes. The approach of the person H can be detected by detecting a signal (electric charge) with the detection electrode 321 in accordance with the change in capacitance due to the change in the electric field.

As shown in FIG. 3, the circuit 34 includes a drive circuit 342 that applies an alternating voltage to the drive electrode 322, a detection circuit 341 that processes the charge output from the detection electrode 321 and detects the approach of the person H, have Further, the detection circuit 341 has a charge amplifier 341a and an AD converter 341b. The charge amplifier 341a converts the charge output from the detection electrode 321 into voltage. The AD converter 341b converts the voltage output from the charge amplifier 341a into a digital signal at a predetermined sampling frequency. The detection circuit 341 detects the approach of the person H based on the digital signal converted by the AD converter 341b.

A detection result from the detection circuit 341 is transferred to the robot control device 8 . The robot control device 8 controls driving of the robot main body 2 based on the detection result of the detection circuit 341 . For example, the robot controller 8 stops driving the robot main body 2 when the detection circuit 341 detects the approach of the arm 21 and the person H based on the signal from the detection electrode 321 .

As shown in FIG. 5, the output value of the proximity sensor 31 increases as the distance D between the electrode 32 and the person H decreases, reaches a maximum value P at a certain point, and thereafter the distance D decreases. decreases as time goes on. This is because when the person H approaches the proximity sensor 31, part of the electric lines of force formed between the detection electrode 321 and the drive electrode 322 is absorbed by the person H, and the detection electrode 321 and the drive electrode 322 The output value of the proximity sensor 31 increases due to the decrease in the capacitance C1 between Also, the increase in the capacitance C2 formed between the detection electrode 321 and the person H becomes dominant, and as a result, the output value of the proximity sensor 31 decreases.

As shown in FIG. 5, the proximity sensor 31 having such output characteristics sets a threshold value SH with respect to the output value. If the output value is lower than the threshold value SH, it is determined that the arm 21 and the person H are sufficiently separated from each other to be in the "separated state". Although the threshold value SH is not particularly limited, it is preferably 50% or more and 90% or less of the maximum output value of the proximity sensor 31 . Also, the output value herein refers to a digital signal converted by the AD converter 341b. However, the output value is not limited to this.

Here, as shown in FIG. 5, the proximity sensor 31 has a detection area Q1 where the output value becomes equal to or greater than the threshold value SH and the "approaching state" is determined. Further, the proximity sensor 31 has a distal side dead area Q2 which is located farther than the detection area Q1 and whose output value is less than the threshold value SH and is judged as a "separated state". In addition, the proximity sensor 31 is located closer to the detection area Q1, that is, between the electrode 32 and the detection area Q1, and the output value is less than the threshold value SH, and the proximity sensor 31 is judged as a "separated state". has Q3.

In other words, the proximity sensor 31 has a proximal dead area Q3 that is determined to be in a "separated state" closer than the detection area Q1. Therefore, even though the person H is positioned near the arm 21, if the person H is approaching the proximal dead area Q3, the proximity sensor 31 erroneously determines that it is in the "separated state." There is a risk that the arm 21 will collide with the person H because the driving of the robot main body 2 is continued or restarted.

Therefore, as shown in FIG. 3, the sensor 3 covers the electrode 32 with an insulating member 39 so as to overlap at least a portion of the proximal dead region Q3. Therefore, the insulating member 39 suppresses the entry of the person H into the proximal dead area Q3, thereby effectively suppressing the above-described erroneous determination. In particular, in the present embodiment, the insulating member 39 overlaps the entire proximal side dead area Q3, so the above-described erroneous determination can be more effectively suppressed. Further, in the present embodiment, since the surface of the insulating member 39 coincides with the boundary between the detection region Q1 and the proximal dead region Q3, it is possible to prevent the detection region Q1 from narrowing due to the insulating member 39. The approach of the person H can be detected more accurately.

Also, the insulating member 39 may have a lower hardness than the exterior member 210 . That is, the insulating member 39 is softer than the exterior member 210 . As a result, even if the arm 21 collides with the person H, the insulating member 39 serves as a cushioning material to reduce the impact of the collision. Therefore, the robot 1 is safe. Here, the "hardness" refers to hardness measured using a durometer corresponding to JIS K 6253, for example.

In particular, the insulating member 39 of this embodiment is a foam. Therefore, the insulating member 39 can exhibit higher elasticity and cushioning properties, and can more effectively absorb the impact at the time of collision. Therefore, the robot 1 becomes safer. The constituent material of the foam is not particularly limited, and for example, polyolefins such as polyethylene and polypropylene, polyurethane, polystyrene, phenol resin, polyvinyl chloride, urea resin, silicone, polyimide, melamine resin, and the like can be used.

It should be noted that the insulating member 39 is not limited to the foam, and other various elastic bodies can be used. Examples of the constituent material of the elastic body include various rubber materials such as natural rubber, isoprene rubber, butadiene rubber, styrene-butadiene rubber, nitrile rubber, butyl rubber, acrylic rubber, ethylene-propylene rubber, urethane rubber, silicone rubber, Various elastomers such as styrene-based, polyolefin-based, polyvinyl chloride-based, polyurethane-based, polyester-based, polyamide-based, polybutadiene-based, trans-polyisoprene-based, fluororubber-based, and chlorinated polyethylene-based elastomers, one of which Alternatively, two or more kinds can be mixed and used.

However, the insulating member 39 may have higher hardness than the exterior member 210 . As a result, since the insulating member 39 is not substantially elastically deformed, it is possible to more reliably prevent the person H from entering the proximal dead area Q3.

The robot 1 has been described above. An arm 21 as a movable body of such a robot 1 is arranged on an outer surface 2100 of an exterior member 210, and a proximity sensor 31 for detecting the approach of another object, especially a person H, and outputting a signal, and the exterior member 210. and an insulating member 39 disposed outside the proximity sensor 31 and covering the proximity sensor 31 . Further, the proximity sensor 31 is located between the detection region Q1 where the output value becomes equal to or greater than the threshold value SH and detects the approach of the person H, and the proximity sensor 31 and the detection region Q1, and the output value becomes less than the threshold value SH. and a proximal dead area Q3 in which approach of a person H is not detected. The insulating member 39 is arranged in the proximal dead region Q3. According to such a configuration, since the insulating member 39 suppresses the entry of the person H into the proximal dead area Q3, it is erroneously determined that the person H is not nearby even though the person H is nearby. can be effectively suppressed. Therefore, the sensor 3 can detect the approach of the person H with high accuracy. As a result, it is possible to improve safety.

In addition, as described above, the arm 21 is a mutual capacitance type capacitance sensor having the detection electrode 321 and the drive electrode 322 . As a result, the approach of the person H can be detected with high accuracy.

Moreover, as described above, the insulating member 39 has a lower hardness than the exterior member 210 . As a result, even if the arm 21 collides with the person H, the insulating member 39 serves as a cushioning material to reduce the impact of the collision. Therefore, the sensor 3 is safe. In particular, in this embodiment, the insulating member 39 is foam. As a result, the insulating member 39 becomes softer, and the impact at the time of collision can be more effectively reduced.

Further, as described above, the robot 1 includes the arm 21 and the proximity sensor 31 which is arranged on the outer surface 2100 of the exterior member 210 of the arm 21 and which detects the approach of another object, especially the person H, and outputs a signal. , and an insulating member 39 arranged outside the exterior member 210 and covering the proximity sensor 31 . Further, the proximity sensor 31 is located between the detection region Q1 where the output value becomes equal to or greater than the threshold value SH and detects the approach of the person H, and the proximity sensor 31 and the detection region Q1, and the output value becomes less than the threshold value SH. and a proximal dead area Q3 in which approach of a person H is not detected. The insulating member 39 is arranged in the proximal dead region Q3. According to such a configuration, since the insulating member 39 suppresses the entry of the person H into the proximal dead area Q3, it is erroneously determined that the person H is not nearby even though the person H is nearby. can be effectively suppressed. Therefore, the robot 1 can detect the approach of the person H with high accuracy.

<Second embodiment>
FIG. 6 is a diagram showing a sensor according to a second embodiment of the invention. FIG. 7 is a graph showing the relationship between the distance to the object and the output value.

Note that this embodiment is the same as the first embodiment described above, except that the configuration of the sensor 3 is different. Therefore, in the following description, regarding this embodiment, the differences from the above-described embodiment will be mainly described, and the description of the same matters will be omitted. In addition, in FIGS. 6 and 7, the same reference numerals are given to the same configurations as in the above-described embodiment.

As shown in FIGS. 6 and 7, the proximity sensor 31 has a detection area Q1 in which the output value is equal to or greater than the threshold value SH and the "approaching state" is determined. and an output value increasing region Q11 located farther from the electrode 32 than the peak P, where the output value increases as the distance D becomes shorter, and an output value increasing region Q11 located closer to the electrode 32 than the peak P, where the distance D is shorter and an output value decreasing region Q12 in which the output value decreases as the output value decreases.

The insulating member 39 is arranged so as to overlap not only the proximal dead region Q3 but also the output value decreasing region Q12. As a result, even if the arm 21 collides with the person H and the insulating member 39 slightly shrinks toward the proximal dead area Q3 due to the impact, the person H is prevented from entering the proximal dead area Q3. can do. Normally, the distance D between the electrode 32 and the person H is gradually shortened, and the approach of the person H is detected at the time T when the output value intersects the threshold value SH. If intrusion is possible, the approach of the person H can be detected with sufficient accuracy. Therefore, even if the insulating member 39 overlaps the output value decreasing region Q12, the detection accuracy of the person H does not substantially decrease. In particular, in the present embodiment, the surface of the insulating member 39 coincides with the boundary (peak P) between the output value increasing region Q11 and the output value decreasing region Q12, so that the output value increasing region Q11 is narrowed by the insulating member 39. The approach of the person H can be suppressed and the approach of the person H can be detected with higher accuracy.

As described above, in the arm 21 of the present embodiment, the detection region Q1 is located on the distal side of the position of the peak P at which the output value is maximum, and the output value increases as the arm 21 approaches the person H. and an output value decreasing region Q12 located proximal to the position of the peak P and decreasing in output value as the arm 21 and the person H approach each other. The insulating member 39 is arranged in the output value decreasing region Q12. As a result, it is possible to more effectively suppress the entry of the person H into the proximal dead area Q3.

<Third Embodiment>
FIG. 8 is a diagram showing a sensor according to a third embodiment of the invention.

Note that this embodiment is the same as the above-described first embodiment except that the support member 6 is interposed between the sensor 3 and the exterior member 210 . Therefore, in the following description, regarding this embodiment, the differences from the above-described embodiment will be mainly described, and the description of the same matters will be omitted. Moreover, in FIG. 8, the same code|symbol is attached|subjected about the structure similar to embodiment mentioned above.

In this embodiment, the exterior member 210 of the arm 21 is made of a conductive material such as metal and has electrical conductivity. Therefore, in the robot 1 of the present embodiment, the insulating support member 6 is arranged between the electrode 32 and the exterior member 210 so that the detection electrode 321 and the drive electrode 322 are not short-circuited through the exterior member 210. are doing. More specifically, the support member 6 is arranged on the outer surface of the exterior member 210 and the electrodes 32 are arranged on the support member 6 . Accordingly, the sensor 3 can be applied to the conductive exterior member 210 with a simple configuration.

Also, the insulating member 39 has a lower hardness than the supporting member 6 . In other words, the insulating member 39 is softer than the support member 6 . As a result, even if the arm 21 collides with the person H, the insulating member 39 serves as a cushioning material to reduce the impact of the collision. Therefore, the robot 1 is safe. In addition, by forming the support member 6 with a sufficiently hard material, the electrode 32 can be supported more stably, and the distance between the exterior member 210 and the electrode 32 changes according to the acceleration caused by the movement of the robot 1. Therefore, the capacitance formed between the exterior member 210 made of a conductive material such as metal and the electrode 32 changes, affecting the operation of detecting the approach of the person H. can be prevented. Here, the "hardness" refers to hardness measured using a durometer corresponding to JIS K 6253, for example.

As described above, the sensor 3 of the present embodiment has the insulating support member 6 which is arranged between the sensor 3 and the exterior member 210 . Accordingly, the sensor 3 can be applied to the conductive exterior member 210 with a simple configuration.

Moreover, as described above, the insulating member 39 has a lower hardness than the supporting member 6 . As a result, even if the arm 21 collides with the person H, the insulating member 39 serves as a cushioning material to reduce the impact of the collision. Further, by forming the supporting member 6 with a sufficiently hard material, it is possible to more stably support the electrode 32, and it is possible to prevent the motion of the robot from affecting the motion of detecting the approach of the person H. .

<Fourth Embodiment>
FIG. 9 is a diagram showing a moving body according to a fourth embodiment of the invention.

The moving body shown in FIG. 9 is an automatic guided vehicle 9 . The automatic guided vehicle 9 is used in an automatic traveling system and can automatically travel along a predesignated path. Such an automatic guided vehicle 9 has a guided vehicle main body 91 as a mobile body and a sensor 3 arranged on the guided vehicle main body 91 .

The transport vehicle main body 91 detects an exterior member 92, a pair of front wheels 93 and a pair of rear wheels 94, an acceleration sensor 95 for detecting acceleration received by the transport vehicle main body 91, and markers serving as marks of the passage. It has a marker sensor 96 and a control unit 97 that controls traveling of the transport vehicle body 91 using the detection results of these sensors. A pair of front wheels 93 are steerable, and a pair of rear wheels 94 are driven by a drive source such as a motor or engine (not shown). In such a carrier vehicle body 91, the upper surface 921 of the exterior member 92 serves as a carrier on which the load X is placed.

Further, sensors 3 are arranged on the outer surface of the front portion and both side portions of the exterior member 92 . As the sensor 3, for example, the configuration mentioned in the first and second embodiments can be used. However, the arrangement of the sensor 3 is not particularly limited, and for example, it may also be arranged in the rear part of the exterior member 92 .

As described above, the automatic guided vehicle 9 as the mobile body of the present embodiment is arranged on the outer surface of the guided vehicle main body 91 as the mobile body main body and the exterior member 92 of the guided vehicle main body 91, and other objects, particularly It has a proximity sensor 31 that detects the approach of a person H and outputs a signal, and an insulating member 39 that is arranged outside the exterior member 92 and covers the proximity sensor 31 . Further, the proximity sensor 31 is located between the detection region Q1 in which the output value is equal to or greater than the threshold value SH and detects the approach to the person H, and the proximity sensor 31 and the detection region Q1, and the output value is less than the threshold value SH. and a proximal dead area Q3 in which approach of the person H is not detected. The insulating member 39 is arranged in the proximal dead region Q3. According to such a configuration, since the insulating member 39 suppresses the entry of the person H into the proximal dead area Q3, it is erroneously determined that the person H is not nearby even though the person H is nearby. can be effectively suppressed. Therefore, the automated guided vehicle 9 can detect the approach of the person H with high accuracy.

The mobile object is not limited to the automatic guided vehicle 9, and can be applied to, for example, automobiles, motorcycles, airplanes, ships, bipedal robots, drones (unmanned aerial vehicles), and the like.

As described above, the movable body, the robot, and the moving body of the present invention have been described based on the preferred embodiments shown in the drawings, but the present invention is not limited to this, and the configuration of each part may be any arbitrary structure having similar functions. It can be replaced with a configuration. Also, other optional components may be added.

DESCRIPTION OF SYMBOLS 1... Robot, 2... Robot main body, 20... Base, 21... Arm, 210... Exterior member, 2100... Outer surface, 211... First arm, 212... Second arm, 213... Third arm, 214... Fourth arm , 215 ... fifth arm, 216 ... sixth arm, 22 ... end effector, 251 ... first driving device, 252 ... second driving device, 253 ... third driving device, 254 ... fourth driving device, 255 ... fifth Driving device 256 Sixth driving device 3 Sensor 31 Proximity sensor 32 Electrode 321 Detection electrode 322 Drive electrode 34 Circuit 341 Detection circuit 341a Charge amplifier 341b AD Converter 342 Drive circuit 39 Insulating member 6 Supporting member 8 Robot controller 9 Automatic guided vehicle 91 Main body of guided vehicle 92 Exterior member 921 Upper surface 93 Front wheel 94 Rear wheel 95 Acceleration sensor 96 Marker sensor 97 Control unit D Distance H Person P Peak Q1 Detection area Q11 Output value increase area Q12 Output value decrease area Q2 ... distal side dead area, Q3 ... proximal side dead area, SH ... threshold value, X ... baggage

Claims (8)

a proximity sensor arranged on the outer surface of the exterior member for detecting the approach of another object and outputting a signal;
an insulating member disposed outside the exterior member and covering the proximity sensor;
The proximity sensor is positioned between a detection area for detecting the approach of the object when the output value is equal to or greater than a threshold, and between the proximity sensor and the detection area, and the output value is less than the threshold for detecting the object. and a proximal dead area that does not detect the approach of
The detection region is positioned distally from a position where the output value is maximized, and an output value increase region where the output value increases as the movable body and the object approach, and the position where the output value is maximized. an output value decreasing region located on the proximal side of the movable body and the output value decreasing as the movable body and the object approach each other;
The movable body, wherein the insulating member is arranged in the proximal dead region and the output value decreasing region . 2. The movable body according to claim 1 , wherein the proximity sensor is a mutual capacitance type capacitive sensor having a detection electrode and a drive electrode. The movable body according to claim 1 or 2 , wherein the insulating member has a hardness lower than that of the exterior member. The movable body according to claim 3 , wherein the insulating member is a foam. 5. The movable body according to any one of claims 1 to 4 , further comprising an insulating support member disposed between the proximity sensor and the exterior member. The movable body according to claim 5 , wherein the insulating member has a hardness lower than that of the supporting member. an arm;
a proximity sensor arranged on the outer surface of the exterior member of the arm for detecting the approach of another object and outputting a signal;
an insulating member disposed outside the exterior member and covering the proximity sensor;
The proximity sensor is positioned between a detection area for detecting the approach of the object when the output value is equal to or greater than a threshold, and between the proximity sensor and the detection area, and the output value is less than the threshold for detecting the object. and a proximal dead area that does not detect the approach of
The detection region is positioned distally from a position where the output value is maximized, and an output value increase region where the output value increases as the arm approaches the object, and the position where the output value is maximized. an output value decreasing region located on the proximal side of the arm and in which the output value decreases as the arm approaches the object;
The robot, wherein the insulating member is arranged in the proximal dead area and the output value decreasing area . a mobile body;
a proximity sensor that is arranged on the outer surface of the exterior member of the mobile body body and that detects the approach of another object and outputs a signal;
an insulating member disposed outside the exterior member and covering the proximity sensor;
The proximity sensor is positioned between a detection area for detecting the approach of the object when the output value is equal to or greater than a threshold, and between the proximity sensor and the detection area, and the output value is less than the threshold for detecting the object. and a proximal dead area that does not detect the approach of
an output value increasing region in which the output value increases as the moving body main body and the object approach each other; and an output value decrease region located proximal to the position where the output value decreases as the moving body main body and the object approach,
The moving body, wherein the insulating member is arranged in the proximal dead area and the output value decreasing area .

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