To provide a movement device that is attachable and detachable to/from a movement wire, a movement method and a movement program.SOLUTION: A movement device 1 comprises information acquisition means 10 for acquiring external information, a connection member 30 for slidable connection to a string-like member 204 stretched between a plurality of discrete positions, and a plurality of propellers 6 for producing thrust for moving the movement device 1. The connection member 30 comprises an annular part 33. The movement device 1 comprises separation expected position determination means for determining whether or not the annular part 33 has reached a separation expected position P1, which is a position for avoiding a passage-impossible position being a position which the annular part 33 cannot slidably move in the string-like member 204, capture releasing means for releasing a capture of the string-like member 204 at the separation expected position P1, recovery movement means which moves toward a recovery position P2 being a position at which to recover the capture of the string-like member 204 after releasing the capture of the string-like member 204, and recovery means for recovering the capture of the string-like member 204 at the recovery position P2.SELECTED DRAWING: Figure 1
【課題】移動用ワイヤーから着脱自在な移動装置、移動方法及び移動プログラムを提供すること。【解決手段】移動装置1は、外部の情報を取得する情報取得手段10と、乖離した複数の位置の間に張られた紐状部材204と摺動可能に接続するための接続部材30と、移動装置1が移動するための推力を得るための複数のプロペラ6と、を有し、接続部材30は環状部33を有し、紐状部材204において、環状部33が摺動移動することができない位置である通過不可能位置を回避するための位置である離脱予定位置P1に到達したか否かを判断するための離脱予定位置判断手段と、離脱予定位置P1において、紐状部材204の捕捉を解除する捕捉解除手段と、紐状部材204の捕捉を解除した後に、紐状部材204の捕捉を回復する位置である回復位置P2へ向かって移動する回復移動手段と、回復位置P2において、紐状部材204の捕捉を回復する回復手段と、を有する。【選択図】図1
MOVEMENT DEVICE, MOVEMENT METHOD AND MOVEMENT PROGRAM
移動装置、移動方法、移動プログラム
2019-07-18
Patent
Electronic Resource
Japanese
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