JP7307490B2 - Branch rail structure and runner guidance device - Google Patents

Description

TECHNICAL FIELD The present invention relates to a branched rail structure and a runner guide device (or unit) useful for smoothly guiding or guiding a runner even if the running path of the rail is branched.

Auxiliary equipment for users (elderly people, physically handicapped people, etc.) to move around homes and facilities by arranging runners so that they can run on rails attached to the ceiling surface or the space on the ceiling side. is proposed.

For example, Japanese Patent Application Laid-Open No. 2006-26254 (Patent Document 1) discloses a running rail having a C-shaped cross section, a running means movable along the running rail, and a connection supported downward from the running means. A moving device for the elderly is described, which includes a rod and an elongated pipe-shaped handrail that is attached and detached along the longitudinal outer peripheral surface of the connecting rod and vertically installed in an extendable manner. This document describes that the traveling means is a T-shaped branching mechanism capable of changing direction and branching.

However, after the user moves to the T-shaped branch (intersection) of the running rail, the user has to change direction and move, and the direction cannot be changed smoothly. In particular, elderly people cannot make the running means (runner) run in a predetermined direction and change direction smoothly.

Japanese Patent Application Laid-Open No. 2019-17987 (Patent Document 2) discloses a closed running path on which runners can run, and at least a running path that extends at intervals in the circumferential direction of the closed running path and on which runners can run. A rail comprising three branched running paths; a wheel member attached to at least a pair of first shaft members so as to be rotatable in the circumferential direction; A runner is described which has a holding member with guide members which can guide the direction of travel in the section. With such rails and runners, the runners can be guided and run in a predetermined direction even if the running path branches.

However, the running direction of the elderly depends on the weight shift of the elderly at the branch and the direction of guidance by the guide member, so there is a risk that the runner will move to the branch road in a different direction than the intended direction. There is In particular, as the number of branch roads increases, the possibility of being guided to a branch road extending in a direction different from the intended direction increases. Incidentally, such a situation also occurs in the transport of a carrier such as an article.

JP 2006-26254 A (Claims, [0010], [0025] to [0032], [Fig. 6], [Fig. 8]) Japanese Patent Laying-Open No. 2019-17987 (Claims, [Fig. 1] to [Fig. 8])

SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to provide a branched rail structure and runner guide device (or guide unit, switching device) useful for guiding or guiding a runner in a predetermined direction even in a branched rail structure in which a plurality of rails are branched. unit).

Another object of the present invention is to provide a branch rail structure and a runner guide device that can guide a runner to a predetermined intended running path even if the user erroneously enters a different running path.

Still another object of the present invention is to provide a runner guidance device and a branch rail structure useful for non-linearly moving or conveying various conveying objects such as users such as the elderly and articles in a predetermined direction. to provide.

As a result of intensive studies in order to achieve the above object, the inventors of the present invention have developed a first rail having a running path on which runners can run, and a branched running path that branches and extends through the running path of the first rail. In a branch rail structure comprising a branch rail having by opening and closing the intersecting travel path where the travel path of the first rail and the branch travel path of the branch rail intersect (or intersect) with the opening and closing member, and can guide the moving body or the conveying body in a predetermined direction, We have completed the present invention.

That is, the branch rail structure of the present invention comprises a first rail having a first running path on which runners can run, and branching and extending through the first running path of the first rail, and the runners are and at least one branch rail having a drivable branch track. In such a branch rail structure, the first travel path and the branch travel path intersect (or intersect) by a drive unit (actuator) attached to the branch portion of the first rail and the branch rail. It has an opening/closing member that can open/close the crossing road.

In such a branched rail structure, the drive unit (actuator) is operated to open and close the crossing running path by the opening/closing member, and even if the rail is branched, the runner can be guided in a predetermined direction.

The opening/closing member may rotate or move forward and backward to open and close the intersection. The opening/closing member may be rotatable in the width direction of the branch rail about the pivotal support (for example, the opening/closing member may be pivotally supported by the branch, and the width of the branch rail may be rotated about the pivot. direction). Since such an opening/closing member is rotatable in the width direction of the branch rail, the opening/closing member can be moved in a pendulum shape and can open and close the intersecting road in a small range of motion. In this aspect, the opening/closing member may be arranged so that the tip thereof faces the branch rail.

The opening/closing member has one end rotatably supported, a flexible member elastically deformable in the width direction, and a rotatable shaft supported at the other end of the flexible member. A guide member may be provided, and a predetermined portion in the length direction of the guide member is pivotally supported, and the guide member is rotated around the pivot portion (fulcrum portion) to enable opening and closing of the crossing travel path ( It may be openable or closable in the running direction of the runner). With such an opening/closing member, the guide member can be rotated by utilizing the elastic deformation of the flexible member in the width direction. It can escape to the road and can be guided to a predetermined travel route.

The branch rail structure may have the following rail structure (A1) or (A2).

(A1) A first rail having a closed first running path on which runners can run; (A2) A linear (straight, curved or A first rail having a curved first runway and spaced (one and/or both) longitudinally of the first rail in communication with the first runway of the first rail. A rail structure comprising a plurality of branch rails branching and extending in the side of (lateral direction) and having branched running paths on which runners can run.

In the branched rail structure, the opening/closing member is located on the first rail side (or the side facing the branched rail) of the branched portion between the first rail and the branched rail, and extends in the width direction of the branched rail (or the branched running path). It may be pivotally supported to be rotatable. In this aspect, since the opening/closing member is pivotally supported on the first rail side, the opening/closing member can be opened/closed by reducing the rotation range (rotational width) of the opening/closing member.

The opening/closing member may be rotatable by a drive unit (actuator). For example, the opening/closing member may be rotatably supported by the branch portion, and the opening/closing member may be rotated by the drive unit (actuator). You may open and close the crossing lane by

The present invention comprises a first rail having a first running path on which runners can run, and a branching running path extending branching from the first running path of the first rail and allowing runners to run. A guide device (runner guide device) for guiding the runner to a predetermined rail or a switching unit for switching the route of the runner on the crossing track that intersects (or intersects) at least one branch rail having contain.

The guide device for the runner is attached to the branching portion between the first rail and the branching rail (for example, rotatably supported), and can open and close the front crossing running path (the gate can be opened in the traveling direction of the runner). openable or closable). Further, the guidance device includes first information acquisition means for obtaining information on the moving direction (course) of the moving body that moves along with the running of the runner or the transported body, and based on the information from this acquisition means: and a drive unit (output unit) for opening and closing said crossover runway (gate) with said opening and closing member in response to (or in response to a signal from the acquisition means).

In such a guiding device, the control unit can be used to open and close the crossing track (gate) with an opening/closing member, thereby guiding the runner to a predetermined track.

The first information acquisition means is a selection means (course selection means) for selecting a moving direction or moving part of a runner (moving body or transport body), or for detecting a running direction of a runner (moving body or transport body). detection means may be provided.

Furthermore, the guiding device may comprise a first notification means for notifying information about the advancing direction or moving part of the runner (moving body or transport body). Such first notification means can notify the running direction of the runner by means of a guide lamp, an identification sound relating to the movement or transport destination of the runner (moving body or carrier), a voice guide, etc., and guide the runner to a predetermined running path. can run along.

The guidance device may include first detection means for detecting entry of a runner (moving body or carrier) from the first running path into the branching running path, and an entry signal from the detecting means , the driving unit (actuator) may be driven to close the crossing road opened with the entry by the opening/closing member. When such a control unit is used, even if a plurality of runners (moving bodies or conveying bodies) run on the branch rail structure, the detection means detects that the preceding runner (moving body or conveying body) has entered the branched running path. can be detected to close the crossing road (open crossing road) that the preceding runner (moving body or carrier) has already entered, so that the following runner (moving body or carrier) can can be prevented from migrating to

Further, the guidance device detects the entry of a runner (moving body or carrier) from the first running path to the branching running path and exiting from the branching running path to the first running path on the crossing running path. a first detection means; a second detection means for detecting that the runner (moving body or carrier) has moved to a predetermined moving part; a timer based on an entry signal from the first detection means and timer means for generating a timing signal by activating the timer means; and when the timing signal from the timer means exceeds the reference value, the exit signal from the first detection means and/or the detection signal from the second detection means. and second notification means for notifying that the predetermined time has elapsed when is not detected. In such a control unit, the timer means can measure the time of transition to the branching road based on the entry signal, so accidents have occurred on the branching road for users such as the elderly who use toilets and the like. The possibility can be notified by the second notification means.

The guidance device includes first detection means for detecting the entry of the runner from the first track to the branch track and the exit of the runner from the branch track to the first track on the plurality of intersection tracks. Address data related to a plurality of moving parts to which the runner travels (or reaches) associated with a plurality of crossing tracks (or branching tracks) (Address data regarding a plurality of branching tracks extending and intended movement or transfer destination ), and a runner (moving body or carrier) on a plurality of intersecting roads between the first road and a plurality of branch roads, an entry signal (data) to the branch road and a signal (data) to the first road a memory means capable of storing exit data; an entry signal (data) and an exit signal (data) of a runner (moving body or carrier) at a predetermined intersection among a plurality of intersections; and said memory Based on the address data stored in the means, a crossing track that the runner can enter (for example, an unused branch rail or a moving part) and a crossing track that the runner can avoid (or cannot enter) (for example, use a crossing run into which the runner can enter by rotating or advancing and retreating the opening/closing member based on the discrimination signal from the matching and discriminating means; A drive unit (actuator) may be provided for opening the road with an opening/closing member and closing the intersecting road on which the runner cannot enter (or cannot run) with the opening/closing member. Utilizing such a control unit, entry signals (data) and exit signals (data) at a given crossroads are utilized to open the crossroads to unused branch rails or locations and to Intersection tracks leading to branch rails or locations inside can be closed to prevent entry of said runners.

The guidance device stores a second information acquisition means for obtaining positional information of the runner; and stores the obtained positional information and address data relating to a plurality of moving parts to which the runner moves, which are associated with the crossing track. memory means; collation and determination means for collating or discriminating between crossing paths that runners can enter and crossing paths that runners avoid, based on the position information and address data of this memory means; A drive unit may be provided for opening the intersecting path into which the runner can enter and closing the intersecting path into which the runner is repelled by the opening/closing member based on the determination signal from the collation discriminating means. . Using such a control unit, any position where the runner can move along the rail, especially complex or large facilities (e.g. facilities with a large number of intersecting or diverging tracks) (or moving or facilities with many options for transfer destinations, etc.), even when traveling (or staying) at an arbitrary position, it can be easily or efficiently guided or guided to a moving position (moving part or target part).

Note that the intended movement or transport position of the moving body or carrier may be simply referred to as the "moving position".

In the present invention, the intersecting running path between the first rail and the branch rail can be opened and closed by the opening and closing member by actuating the actuator. Can guide or guide in a direction. Further, if the opening/closing member is formed by combining a flexible member that can be elastically deformed in the width direction and the rotating member, even if the vehicle erroneously enters a different running path, the elastic deformation of the flexible member can be used to Guidance is possible on a predetermined intended travel route. Therefore, the branch rail structure and the runner guidance device of the present invention are useful for moving or conveying moving objects (users such as the elderly) or conveying objects (articles, etc.) non-linearly in a predetermined direction. . In particular, it is useful for assisting the movement of users who have difficulty walking, such as the elderly and physically handicapped, and can be used, for example, as a walking or movement assisting device.

FIG. 1 is a schematic exploded perspective view showing an example of the branch rail structure and guidance device of the present invention. FIG. 2 is a schematic bottom view of the branch rail structure and the guide device of FIG. 1 as seen from below. 3 is a schematic perspective view for explaining the opening and closing mechanism of the branch rail structure of FIG. 1. FIG. FIG. 4 is a schematic cross-sectional view showing a crossing running path of the branch rail structure of FIG. 5 is a schematic perspective view showing the relationship between the rail and the runner in FIG. 1. FIG. 6 is a schematic exploded perspective view showing the runner of FIG. 5; FIG. FIG. 7 is a schematic perspective view showing how the runner of FIG. 5 is used. FIG. 8 is a flow chart for explaining the operation of the guidance device (control unit). FIG. 9 is another flow chart for explaining the operation of the guidance system of the present invention. FIG. 10 is still another flow chart for explaining the operation of the guidance system of the present invention. FIG. 11 is still another flow chart for explaining the operation of the guidance system of the present invention. FIG. 12 is still another flow chart for explaining the operation of the guidance system of the present invention. FIG. 13 is still another flow chart for explaining the operation of the guidance system of the present invention. FIG. 14 is still another flow chart for explaining the operation of the guidance system of the present invention. FIG. 15 is still another flow chart for explaining the operation of the guidance system of the present invention. FIG. 16 is still another flow chart for explaining the operation of the guidance system of the present invention.

The present invention will be described in detail below with reference to the accompanying drawings. In the following description, the same members or elements (or members or elements having similar functions) are denoted by the same reference numerals.

1 to 7 show an example of a branch rail structure and a runner guide device according to the present invention. This branch rail structure is formed in a substantially triangular frame shape, and is a closed first rail in which runners can run. and branch paths 4a, 5a extending through the corners of the first closed running path and on which runners can run. , 6a. The closed first running path 2 includes a straight running path 2a extending linearly and curved running paths 2b and 2c curving and converging inwardly with respect to both ends of the straight running path 2a. From the junction where the straight running path 2a, the curved running path 2b, and the curved running path 2c respectively join, the branching paths 4a, 5a are connected to the ends of the branch rails 4, 5, 6. , 6a extend linearly. The closed first running path 2 of the first rail 1 and the branched running paths 4a, 5a, 6a of the branch rails 4, 5, 6 intersect each other to form an intersecting running path (intersecting running part) 7 (for example, , the straight track 2a and the curved tracks 2b, 2c form intersecting tracks 7a, 7b, 7c).

The first rail 1 and the branch rails 4, 5, 6 can be connected or connected by using connecting pins 33 while facing each other on the connecting tracks 3a to 3c. The branch rail structure is formed in a symmetrical shape with the axis of the branching track 6a that can communicate with the connecting track 3c at the junction of the curved track 2b and the curved track 2c as the center line. And the branch rails 4, 5, 6 are made of metal such as aluminum, and the curved portions of the first rail 1 and the branch rails 4, 5, 6 are formed by bending.

Furthermore, a control device (guidance A mounting plate 11 provided with a device) is mounted, and a drive unit (actuator) and the like, which will be described later, are arranged on this mounting plate. Also, the front part of the triangular area surrounded by the closed first running path 2 is attached with screws 20 and can be covered with a front cover plate 18 having a row of guide lamps 19 (19a to 19c).

As shown in FIG. 4, the first rail 1 and the branch rails 4, 5 and 6 have a rectangular cross section (or a rectangular frame shape) with a slit-like opening in the lower wall. A first running wall 25 as a lower wall forming a slit-shaped opening extends inward from one inner wall portion 23 of both side walls (inner wall portions) 23 and 24 extending oppositely from both sides of 22 . A second running wall 26 extends inward from the other inner wall portion 24 at a height position different from that of the first running wall 25 (more than the first running wall 25). A second running wall 26 extends from an upper inner wall portion 24), and a pair of running walls 25, 26 extend alternately inward from mutually different positions in the height direction, facing each other. . The upper surfaces of these running walls 25 and 26 are inclined downward toward the inside (extending direction) to form running surfaces or running paths 25a and 26a. From the other inner wall portion 24, a projecting wall (or restricting wall) as a lower wall forming a slit-shaped opening has an inclined surface 27a whose upper surface is inclined downward toward the inside (extending direction). wall 27 extends inwardly.

Furthermore, the corners of the running walls 25, 26 and the inner walls 23, 24 regulate the rotation of the runner 41 or excessive displacement (running deviation) of the wheel members from the running path (inclined surface). Therefore, inwardly protruding restriction wall portions (restriction stepped portions) 25b and 26b are formed.

Since the first rail 1 and the branch rails 4, 5, 6 can be connected to each other and extended, the corners of the cross-sectional shape have connection grooves (cross-sections with narrow openings) for connecting with the connection pins 33. A connecting groove 29 having an arc shape or a C-shaped cross section is formed. Furthermore, mounting grooves 30a having a U-shaped cross section which can be fitted or attached to brackets for mounting the rail 1 to a predetermined portion are provided in the side outer walls at the corners of the upper wall 22 and the side walls 23 and 24. 30b are formed.

Further, angle maintaining members 35a for maintaining the curvature and angle form of the closed first running path 2 are provided on the inner walls of the corners of the closed first running path 2 (2a to 2c). , 35b and 35c are mounted or fixed, and the angle maintaining member has a planar shape corresponding to the form of the corner portion of the closed first running path 2 (in this example, the branching paths 4a, 4b, 4c). Reinforcement plates 36a, 36b, and 36c, each having an elongated triangular shape with an acute angle at the tip, are attached by a screwing member 37 toward the junction where the runners 5a and 6a join, and the runner 41 collides with the tip of the crossing track 7. avoiding.

Runners 41 capable of running on the first rail 1 and the branch rails 4, 5 and 6 are, as shown in FIGS. 42c and 42d (a pair of first shaft members 42a and 42b located on both sides in the longitudinal direction and having large shaft lengths, and two shaft members 42a and 42b located in the middle in the longitudinal direction and having short shaft lengths). second shaft members 42c, 42d), and a pair of upper and lower shaft members 42c, 42d), which are attached to the upper portions of these shaft members with a space therebetween and are rotatable in the circumferential direction of the shaft members 42a to 42d in contact with the running paths 25a, 26a. (or mounting unit) 45. This holding unit has a planer boat shape, to which the second shaft members 42c and 42d can be attached, and whose width is gently narrowed at both ends (tips in forward and backward directions) in the running direction or longitudinal direction. A guide member 46 having a shape (a shape of a bow with an acute angle at the leading end) and the pair of first shaft members 42a and 42b are attached to both sides in the longitudinal direction by a washer 49a and a nut member 49b. A plate-shaped shaft mounting member 47 having a width is provided, and shaft portions of the pair of first shaft members 42 a and 42 b are mounted on the guide member 46 and the plate-shaped shaft mounting member 47 .

Both side walls (curved side walls) of the leading end portion located on both sides in the longitudinal direction of the guide member 46 are guides that can slide or come into contact with the inner wall of the slit-shaped opening of the branch portion of the rail as it travels. A wall 46a is formed, and both ends in the longitudinal direction of the guiding member 46 are formed with inclined tip portions 46b whose upper portions extend forward in the traveling direction (forward direction) (that is, they are inclined forward in the direction from the bottom to the top). with a slanted beveled tip).

A ring-shaped rotating member (collar or spacer) 50 is attached to the first shaft members 42a and 42b located between the guiding member 46 and the shaft mounting member 47 to protect the shaft members. In addition, a ring-shaped connecting member (ring member) 48 for connecting or attaching a moving body or a transported body is provided as a connecting or connecting means in the through hole formed in the central portion in the longitudinal direction of the shaft mounting member 47. A shaft portion is rotatably mounted (rotatable in the circumferential direction of the axis), and a washer 49a and a nut member 49b are screwed to the shaft portion to prevent the shaft portion from coming off.

Further, a hollow cylindrical body 52 is attached to the ring-shaped connecting member 48 via a swinging member 51 in order to assist or support walking of the user. A gripping member (hollow gripping member) 53 having a (pentagonal frame shape in this example) is attached so as to be adjustable in length, and the hollow cylindrical body 52 and the gripping member (hollow gripping member) 53 form an auxiliary tool having a gripping portion. forming That is, a gripping member (hollow shaft member, rod-shaped body) 53 is slidably mounted in the hollow portion of the hollow cylindrical body 52, and the gripping member (rod-shaped body) 53 is longitudinally (or axially) A plurality of through-holes 53 a are formed at predetermined intervals, and the penetration length of the gripping member 53 into the hollow cylinder 52 is adjusted, and the threaded portion of the bolt (screw) 57 a is inserted into the through-hole of the hollow cylinder 52 . The length of the gripping member 53 is adjusted by inserting it into a predetermined through hole 53a of the gripping member 53 and screwing a nut 57b onto the threaded portion. An armrest member 55a is attached to the lower frame 54a of the gripping frame 54 of the gripping member 53 with a screw (screw member) 56, and an anti-slip member or cushioning material (or A grip tape) 55b is wound and attached.

By using such a branch rail structure and the runners 41, the running direction of the runners 41 can be easily changed using the first running path 2 in a closed form, and the runners 41 can be moved to the branching paths 4, 5 and 6. Even if a load acts, the runner 41 can be supported by the running walls 25, 26 and can run with high stability. In particular, even on a branched running path, the runner 41 can be smoothly and stably guided in a predetermined direction by using the guide member 46 (inclined tip portion 46b and guide wall 46a), and the runner 41 in the closed configuration can be used. The runner 41 can smoothly change direction without derailing even if the width of the running path at the branching part between the running path 2 of 1 and the branching paths 4 to 6 is widened. Therefore, the user can walk with a high sense of stability by using the armrest member 55a of the lower frame 54a, etc., and can assist (assist) the walking (movement) of the user (elderly people, physically handicapped people, etc.).

With such a branch rail structure, the runners 41 can be smoothly and stably guided in a predetermined direction, but on the other hand, the running direction of the runners 41 does not match the movement of the weight of the user (elderly person, etc.) and the guiding direction of the guiding member 46. Therefore, there is a risk that the runner 41 will shift to branch paths 4a to 6a that are not intended by the user. Therefore, in the branch rail structure and the guidance device, the control device of the mounting plate 11 is used to rotatably rotate the opening/closing member at the branch portion between the first rail 1 and the branch rails 4, 5, 6. The opening/closing member is rotated by a drive unit (actuator), and the first rail 1 (or the first travel path 2) and the branch rails 4 to 6 (or the branch travel paths 4a to 6a) intersect. It opens and closes crossing roads 7 (7a, 7b, 7c).

More specifically, the opening/closing member includes a leaf spring member 12 and a guide member 15, and is attached to each corner portion (triangular shape) of the mounting plate 11 that covers the closed first running path 2 on the back side. In the inner area of the corner surrounded by the first running path 2), the tip (the other end) is directed toward the branch rails 4, 5, 6 (or the branch running paths 4a, 5a, 6a) , the base (one end) of a leaf spring member (flexible member) 12 that is elastically deformable in the width direction (or sideways) is rotatably supported around a rotation shaft 13, An end portion of a narrow plate-like guide member 15 with a narrowed tip portion is rotatably supported by a shaft support portion 14 and attached to the tip portion (the other end portion) of the leaf spring member 12, A midway portion of the guide member 15 in the longitudinal direction is rotatably supported by a reinforcing plate 36 with a shaft support portion (fulcrum portion) 16 . That is, as shown in FIG. 3, the distal end (the other end) of the leaf spring member 12 is a pivotal support portion or a hole portion of a bent piece (for example, a bent piece bent downward) of the rear end portion of the guide member 15. It is supported by 14 so that it can move back and forth. Therefore, the opening/closing member (the plate spring member 12 and the guide member 15) is rotatable in the width direction of the branch rails 4, 5 and 6, and the shaft support portion 14 between the plate spring member 12 and the guide member 15 serves as a joint portion. As the plate spring member 12 moves or deforms in the width direction, the tip of the guide member 15 can rotate around the fulcrum portion 16 .

It should be noted that the guide member 15 is positioned at a reference position (or an initial position) in which the tip faces the crossroads 7, for example, (a) toward the center of the crossroads 7; , 6 facing the right or left side of the crossroads 7 . In order to secure clearance between the reinforcing plate 36 and the guide member 15 to prevent close contact between the reinforcing plate 36 and the guide member 15, a stepped bolt having a large diameter stepped portion on the side of the reinforcing plate 36 is mounted on the shaft supporting portion (fulcrum portion) 16. etc. can be used. That is, the screw member forming the shaft support portion (fulcrum portion) 16 has a shaft portion adjacent to the head formed in a round bar shape as shown in FIG. Formed in a stepped shape (as a stepped screw member) having a round bar (non-threaded portion) and a threaded portion (threaded portion at the tip of the shaft) formed from the round bar to the tip. The diameter of the round bar portion (unthreaded portion) is larger than that of the threaded portion. Further, the guide member 15 is rotatably supported by the round bar portion.

As shown in FIG. 4, the mounting plate 11 is attached by welding or the like to adjacent side wall portions at the corner portions of the triangular frame-shaped first rail 1 . Further, the front cover plate 18 has a space for the angle maintaining members 35a, 35b, 35c arranged at the corners of the triangular frame-shaped first rail 1 at a position that does not hinder the movement of the opening/closing member 15. Legs or walls (not shown) for securing are formed, and the front cover plate 18, as shown in FIG. It is attached with screws 20 at the outer positions (both sides) where it does not.

Furthermore, an electromagnetic solenoid 17 (17a, 17b, 17c) is attached as an actuator to one side portion of the leaf spring member 12 and is capable of electromagnetically attracting and detaching the side portion of the leaf spring member 12. The actuation or drive of the electromagnetic solenoid can be controlled by a control unit of the induction device (control device) by operating the induction device (control device) with a remote controller (not shown). That is, the guidance device (control device) attached to the mounting plate 11 is provided with a central processing unit (CPU, etc.). and data, etc., and based on the signals from the input unit and the programs and data in the storage unit, to perform processing such as discrimination, comparison, selection (or collation), calculation, etc. , an output unit (actuator or drive unit) to which a processing signal or data (as a control signal) is given from the arithmetic unit, and a control unit that exchanges signals and / or data between these units I have it.

In this example, the remote controller has a selection button (input unit) that can select the running direction of the runner 41 (for example, one of the straight running path 2a and the curved running paths 2b and 2c). A corresponding electromagnetic solenoid (output unit) 17 is activated in response to the selection button. That is, data corresponding to the selection button of the remote controller is stored in the memory means (storage means or memory circuit), and as shown in FIG. When the selection button corresponding to is selected, in step ST2, the selection signal (or selection data) corresponding to the selection button from the remote controller is received by the receiving unit (receiving circuit; input unit), and the control unit (or control circuit) Then, a signal or data corresponding to this selection signal and data stored in a storage unit (memory means) (data stored at a predetermined address) are collated or selected by means of collation or selection means (corresponding to an arithmetic circuit). and data corresponding to the received signal is read. In step ST3, the control unit (or control circuit) supplies read data (driving signal or control signal) corresponding to the received signal to the driving circuit of the corresponding electromagnetic solenoid 17 to operate the electromagnetic solenoid 17 to operate the guide member. 15 opens a predetermined travel path. When the reset or stop button of the remote controller is selected after the runner 41 has passed the predetermined running path, the guide member 15 returns to the predetermined reference position and the program ends.

More specifically, when a predetermined selection button (for example, a selection button corresponding to the direction of travel along the curved travel path 2c) is selected, the drive signal or control signal from the control unit (or control circuit) is changed to the straight travel path. Predetermined electromagnetic solenoids 17 adjacent to each other among 2a and curved traveling paths 2b and 2c (for example, electromagnetic solenoid 17a located on one end side of straight traveling path 2a and electromagnetic solenoid 17c adjacent to this electromagnetic solenoid 17a) , drives the drive circuit of a predetermined electromagnetic solenoid 17 to magnetically attract the predetermined leaf spring member 12 so that the leaf spring member 12 moves in the width direction around the rotating shaft 13. Rotate in one direction. As the spring member 12 rotates, the distal end portion of the guide member 15 rotates from a predetermined reference position about the shaft support portion (fulcrum portion) 16 in the opposite width direction. Of the crossing roads between the rail 1 and the branch rails 4, 5, 6, the predetermined crossing roads corresponding to the predetermined running direction (for example, the crossing roads 7a, 7c at both ends of the curved road 2c) It is opened by the guide member 15 and the runner 41 is made to run. In other words, the traveling paths corresponding to the unselected traveling directions (for example, the traveling path connecting the straight traveling path 2a with the crossing traveling path 7a located at one end of the curved traveling path 2c, and the curved traveling path 2c) is closed by a guide member 15, and the branching road 4a and the branching road 6a (the connecting road 3a and the connecting road 3a and the connecting road 2b) are closed Runners 41 are prevented from entering said closed first track 2 from track 3c). It should be noted that an intersecting road (for example, the intersecting road 7b) that has nothing to do with the selected traveling direction may be blocked by the guide member 15 or may be opened. On the other hand, when the operation or driving of the predetermined electromagnetic solenoid 17 is stopped by selecting the reset button or the stop button, the magnetic attraction is released and the predetermined leaf spring member 12 and the guide member 15 return to predetermined reference positions. .

Further, on the front cover plate 18, adjacent to the straight running path 2a and the curved running paths 2b and 2c corresponding to each side of the triangular closed first running path, a plurality of first notification means are provided. Induction lamp strings 19 (19a, 19b, 19c) with light emitting diodes are formed respectively, and these induction lamp strings 19 can be lit in response to the selection button (or actuation of an electromagnetic solenoid). That is, by operating a remote controller as selection means, the control unit reads read data (driving signal) corresponding to the received signal, as shown in step ST3 of FIG. (For example, the guide lamp row 19c corresponding to the selected curved traveling path 2c) can be supplied to a drive circuit to drive and turn on a predetermined guide lamp row 19 as the first notification means. Further, in step ST3, the direction of travel can be notified by voice or pronunciation by driving the sounding means (audio guide, sounding unit capable of sounding the number of sounds based on a predetermined rule, etc.) as the first reporting means. Further, when the reset or stop button of the remote controller is selected, the lighted predetermined induction lamp row 19 can be extinguished, and the operation (sounding) of the sounding means can also be stopped.

Thus, by selecting the running direction of the runner 41 using the remote controller, the cross running path 7 can be opened/closed or switched, and the user can be guided in a predetermined running direction, and the guide lamp 19 can be used. can be guided in a given direction. Further, the opening/closing member (plate spring member 12 and guide member 15) is pivotally supported on the side of the first rail 1 (the inner region of the closed first travel path 2), and the tip portion thereof is connected to the branch rails 4, 5, . 6, the movable range of the opening/closing member (plate spring member 12 and guide member 15) by the electromagnetic solenoid 17 can be reduced. can be quickly opened and closed by the opening and closing members (plate spring member 12 and guide member 15).

Furthermore, even if the runner 41 erroneously enters a different running path (for example, the closed first running path 2), the leaf spring member 12 is deformable (elastically deformable) in the width direction with respect to the longitudinal direction. Therefore, by deforming the leaf spring member 12, the runner 41 can escape from the running path (for example, the closed first running path 2) and can be guided to the intended predetermined running path.

The controller may be housed in a pocket or the like attached to an appropriate position of an auxiliary tool having a gripping portion (eg, gripping frame 54, gripping member (hollow gripping member) 53, etc.).

[rail]
The rails forming the branched rail structure include a first rail having a first runway along which the runner can run, and branching and extending through the first runway of the first rail and on which the runner runs. and at least one branch rail having possible branching tracks, the first rail being not limited to a closed configuration first track, but also a linear first track (e.g., said straight track). Like the running path 2a, it may have a straight running path, a curved or curved running path, etc.). Further, the first closed travel path is not limited to the triangular frame-shaped travel path, but may be polygonal frame-shaped (triangular frame, square frame, pentagonal frame, hexagonal frame, etc.), elliptical frame-shaped, circular frame-shaped (ring-shaped, etc.). ) may be a frame-shaped travel path. The first closed runway often comprises a straight runway, a curved runway (e.g., an outwardly or inwardly curved or bulging runway, etc.), or at least a curved runway. often have

The branch rail may branch from the first rail depending on the layout of the construction site, the form of the first rail, and the like. For example, a plurality of moving parts (a plurality of guiding parts that guide the runner) where the runner (moving body or carrier) moves (for example, a moving place such as a toilet, a room, a transporting place, etc.) is connected to a predetermined line (corridor etc.) from the first linear running path of the first rail, a plurality of branching paths (or a plurality of branching rails) extend to one side or both sides (for example, staggered ) may be extended. In addition, when the plurality of moving or guiding parts are positioned via lines extending radially from an intersection part of a predetermined line (such as an intersection of a corridor), the first rail in a closed mode At least three branched tracks (or three or more branched rails) may extend outwardly from the track at circumferentially spaced intervals.

Furthermore, although a connecting track is not always necessary, in the rail structure having the closed track, in order to improve connection efficiency, a connecting track is provided between the first closed track and the branch track. Roads are often intervened.

The first traveling path and the branching traveling path may intersect linearly at the intersection, and the corner portion of the intersection where the first traveling path and the branching traveling path intersect (or intersect) is curved. may For example, in the closed first running path, a curved converging path (curved running path) that curves and converges with respect to the branching running path is not necessarily required, but the curved converging path (or curved running path) is included. You can stay. Curved convergence paths (curved paths) may be formed at suitable locations (such as opposing paths) in the first closed path, but are often formed on paths adjacent to each other.

The rail may typically have the following rail structure (A1) or (A2).

(A1) A first rail having a closed first running path on which runners can run, and a space in the circumferential direction of the first rail that communicates with the first running path of the first rail. (A2) A rail structure comprising at least three branched rails extending (inwardly and/or outwardly, especially outwardly) and having branched tracks on which runners can run (A2) Runners run A first rail having a possible linear first runway and, in communication with the first runway of the first rail, spaced longitudinally of the first rail (one and/or A rail structure comprising a plurality of branch rails having branched running paths extending branchingly on both sides) and on which runners can run.

The details of the rail structure (A1) and the structures of the first rail and the branch rail can be referred to the Patent Document 2 mentioned above.

The branched travel path may be a straight travel path, or may be a curved (or curved) travel path. The branch tracks may extend in a radial configuration (e.g., radially), circumferentially spaced from the first track in the closed configuration, and diverging from the first linear track. , T-shaped, cross-shaped, or the like, or alternately extending laterally. The first running path and the branched running path of the branch rail may intersect (or cross) each other to form an intersecting running path (intersecting running section). The number of branched tracks is not particularly limited, and can be selected according to the shape and application of the track. It may be about 3 to 10 (preferably 3 to 6, more preferably 3 or 4), and in the rail structure (A2), about 2 to 20 (preferably 3 to 16, more preferably 5 to 10). There may be.

The cross-sectional structures of the first rail and the branch rail may be the same or different. These rails only need to allow the runners to run, and generally extend from a rail body having a hollow cylindrical cross-section with a slit-shaped opening and the opposing inner walls of the rail body, so that the wheels (or rollers) of the runners can run. It has a possible running path (running wall). This running path may have at least one pair or at least two pairs of running walls facing each other extending inward from both side walls (inner wall portions) at the same height position or at different height positions. . The upper surface (or running surface) of the running wall need not be formed as an inclined surface, and may be formed as a flat flat surface. It should be noted that the regulation wall portion (regulation stepped portion) for regulating the running position of the runner is not necessarily required.

Further, the first closed configuration runway may have a plurality of closed configuration runways. For example, a first closed running path in the shape of a polygonal frame (such as a square frame) and a polygonal frame adjacent to each other while sharing at least one side (or each side) of the first closed running path. A second closed running path having a shape (such as a triangular frame shape) may be provided, and a branching running path may extend outward from each corner of the second closed running path. good. The closed track and/or branch rail structure may be asymmetrical or symmetrical.

Furthermore, connecting grooves and/or mounting grooves for brackets are not necessarily required to connect or couple multiple rails or rail members.

The reinforcement plate can be arranged at a suitable location between the first runway of the first rail and the branch runway of the branch rail, and is usually arranged in a facing area opposite the branch runway. A stopper may be attached to the rail at an appropriate place to stop the running of the runner.

[runner]
The structure of the runner is not particularly limited as long as it can run on the running path of the rail. (rotatably mounted or attached) and a sliding contact body (such as a rotating member or a wheel member (bearing member, etc.)) capable of traveling along the running surface (running path) of the rail; and a connecting or coupling means that can be attached to the holding unit and for connecting or attaching the moving body or the transported body. The sliding contact body may include a sliding body that is rotatably (or non-rotatably) supported by the shaft member and is slidable in contact with the running surface (running path) and a rotatable rotating body. good. The sliding body or rotating body may be rotatable vertically or horizontally with respect to the running wall, or may be slidable on the running wall without rotating.

A runner may have a single running unit, and often has a plurality of running units for stable running even when a load is applied. The traveling unit can be attached to a holding unit (or mounting unit), and in order to prevent derailment at the rail bifurcation, the holding unit includes two or more shaft members of a plurality of traveling units, particularly three or more ( For example, 3 to 6, preferably 3 to 5, especially 3 or 4) shaft members are often mounted at longitudinal intervals. In particular, it comprises at least a pair (or at least two) of first traveling units (or first shaft members) that can be attached to longitudinal positions of the holding unit (for example, both sides in the traveling direction), and and at least one (for example, 1 to 3, especially 1 or 2) positioned between a pair of traveling units (or first shaft members) ) and a second traveling unit (or a second shaft member).

The holding unit may be formed from a single member or may be formed from a plurality of members, such as a shaft mounting member and/or a guiding member. In a preferred embodiment, the holding unit is provided with at least a guide member (a guide member capable of guiding the running direction at the bifurcation of the rail and having narrow widths at both ends in the running direction or the longitudinal direction). A shaft member of the traveling unit (preferably the first shaft member and/or the second shaft member at a predetermined interval) may be attached to the guiding member.

The guide wall at the tip of the guiding member may narrow linearly or curvedly in width toward the tip or head in the running direction or the longitudinal direction, and the planar shape of the tip (head) is , may be flat, sharp or curved (rounded and curved).

Furthermore, the side walls at both ends (both ends or top) in the longitudinal direction of the guide member may extend vertically and stand, and as going from bottom to top, the bottom is forward, preferably may have a sloped tip (or tip sidewall) with an upper portion that slopes forwards.

The guide member is often attached at a height position where it can come into contact with the inner wall of the slit-shaped opening of the rail, and in many cases, at least a part of the guide member is positioned inside the slit-shaped opening.

The runner may typically have the following runner structure (B1) or (B2).

(B1) at least one pair (or at least two) of first shaft members, and at least one wheel member (or a bearing member), a holding unit (or mounting unit) to which the first shaft member can be mounted at intervals in the running direction or longitudinal direction, and a moving body or a transported body that can be mounted to the holding unit and connecting or coupling means for connecting or attaching the rail, and the holding unit comprises at least a guide member capable of guiding the running direction at the bifurcation of the rail.

(B2) at least a pair of (or at least two) first shaft members and at least one second shaft member located between the pair of first shaft members (or side portions of the pair of first shaft members) and at least one wheel member (or bearing member) that is circumferentially rotatably attached to the first and second shaft members and is capable of contacting the running wall of the rail, and the first shaft A holding unit (or mounting unit) to which members can be mounted at intervals in the running direction or longitudinal direction, and connection or coupling means that can be mounted to this holding unit and for connecting or mounting a moving body or a transported body and

For details of the runner structures (B1) and (B2), reference can also be made to the aforementioned Patent Document 2.

In addition, the connection or connection means may connect the moving body or the transport body in a suspended state or a suspended state, and the connection or connection means may be a rotating shaft portion rotatably attached to the holding unit or a rotating shaft portion. Member: hook member (such as a one-touch type hook member that may be provided with an opening/closing pin); rocking or suspending engaging member such as a ring member (such as an O-ring); connecting member such as a connecting fitting; Body (string-like body such as hanging string or rope, string-like strap-like body that may have a gripping part, etc.), chain-like body such as chain, rod-like body (for example, even if it has a gripping part A good rod-shaped body, etc.) may be formed singly or in combination of two or more. The connection or connection means may be connectable with an auxiliary tool for assisting the movement or walking of a moving body or user, or a carrier (or carrier) for carrying a carried body. The auxiliary tool may include a rod-shaped body (for example, a length-adjustable (or stretchable or stretchable) rod-shaped body) having at least a graspable gripping portion and/or a leaning portion. As described above, the gripping portion may be formed into a rod-like body, an inverted T-shape, a U-shape, or the like, or a gripping frame (for example, a triangular frame, a square frame, a pentagonal frame, a hexagonal frame, etc.). It may be in the form of a polygonal frame such as a frame. Furthermore, a rubber elastic body may be attached to the rod-shaped body in a form of contact (surface contact, etc.) with the holding unit (shaft mounting member, etc.) to suppress excessive rocking of the rod-shaped body.

[Branch rail structure and guidance device]
The branch rail structure and guidance device are provided with an opening/closing member that can be attached to a branch (or intersection) between the first rail (first running path) and the branch rail (branch running path). The member can be attached in various forms according to the opening/closing mechanism (or switching mechanism) of the crossroads as long as the crossroads (or branching crossroads) can be opened and closed, and can be rotated or moved back and forth. It may be possible to open and close the crossing road. For example, the opening/closing member may be mounted so as to slidably traverse the crossroads (a form of traversing the crossroads by a shutter method) so as to be movable forward and backward, and pivotally supported so as to be rotatable in a rotation range including the crossroads. may The opening/closing member can be attached to an appropriate position of the branching portion. Among the intersections of the rail and the branch rail, it may be disposed at a portion facing the branch intersection. The branch intersection may be opened and closed by rotating the member. Furthermore, the opening/closing member is located on the first rail side of the branch portion, for example, the inner area surrounded by the closed first running path in the rail structure (A1), and the first rail in the rail structure (A2). It may be attached to the first rail (first travel path) opposite to the direction in which the branch rail (branch travel path) extends from one rail (first travel path). In a preferred embodiment, the opening/closing member is pivotally supported at the branch portion so as to be rotatable about the pivot portion in the width direction of the branch rail (branch running path). A preferred opening/closing member is rotatably supported at a reference position (or an initial position) with its leading end pointing in the direction of the branch rail (branching track) (for example, the crossing track).

The opening/closing member may be formed of a single member, and the elastically deformable flexible member is not necessarily required. may be formed with For example, the halfway portion of the opening/closing member in the longitudinal direction is rotatably supported by a shaft supporting portion (fulcrum portion), one end of the opening/closing member is rotated by a drive unit (actuator), and the other end of the opening/closing member is rotated. You may open and close an intersection runway at a part (free end). The flexible member and the guide member are rotatably connected, the free end portion of the flexible member is rotatably supported, and a predetermined portion (a shaft support portion or a fulcrum) in the length direction of the guide member is provided. When the guide member pivots around the pivotal support (fulcrum), the crossing traveling path can be opened and closed, and the elastic deformation of the flexible member in the width direction can be utilized. , the runner can escape from the wrongly entered running path and move to a predetermined running path. The screw member forming the shaft support portion (fulcrum portion) does not necessarily have to be a stepped screw member as long as the opening/closing member can rotate. The flexible member such as the leaf spring member 12 can be made of a magnetic material such as iron or carbon steel, and can be formed in a rod shape or a narrow plate shape. The flexible member such as the leaf spring member 12 does not need to be supported by the bent piece of the guide member 15 so as to move back and forth. and one end of the guide member) may be pivotally supported so that one end of the flexible member 12 can be bent while the intersection functions as a joint. The portion may be rotatably supported, and the intermediate portion of the guide member 15 may be pivotally supported as a fulcrum portion. The free end of the guide member 15 may pivot about the fulcrum to open and close the intersection.

The opening/closing member can be operated or driven by a drive unit (actuator) based on a drive signal from the control unit to the drive unit (or drive circuit). The drive unit (actuator) may be, for example, an electromagnetic solenoid (solenoid actuator), a stepper motor, a cylinder (hydraulic or pneumatic cylinder), or the like. For example, an opening/closing mechanism using an actuator may be a mechanism for rotating an opening/closing member around a pivot (fulcrum) as long as the opening/closing member can be driven to open/close the intersecting road. , a forward/backward motion (or reciprocating) mechanism for the opening/closing member, etc., wherein the forward/backward motion mechanism is an opening/closing member (capable of crossing the crossing road) capable of crossing the crossing road (moving back and forth in the crossing direction). A guide part (a guide recess such as a guide groove, a guide wall, etc.) extending in the direction is moved back and forth by an actuator such as an electromagnetic solenoid, a stepping motor, or a cylinder. It may be a moving mechanism or a shutter type opening/closing mechanism.

A runner guidance device (control unit) includes first information acquisition means (first information acquisition means as an input unit) for obtaining information about the traveling direction (or course) of the runner (moving body or carrier); , a drive unit for driving the actuator to open and close (open, block or shield) the cross lane based on information from the obtaining means (or in response to a signal from the obtaining means). may be Specifically, the first information acquisition means may be selection means (course selection means) for selecting the traveling direction of the runner (moving body or carrier). It may be a detection means for detecting a direction. The selection means uses a voice recognition unit to pronounce or instruct information about the direction of travel such as right, left, or straight, and information about the location of a moving part or a transporting part such as a toilet, a washroom, or a predetermined room. The selection may be made by button selection or the like, and based on the selection signal from the selection means, the control unit may provide the drive signal to the drive circuit of the actuator. In addition, the detection means includes sensors such as optical sensors, speed sensors, acceleration sensors, temperature sensors, and sensors (image sensors, etc.) capable of identifying moving or transported objects; A reading unit capable of reading codes, non-contact tags (IC tags, etc.) may be used to detect the running direction of the runner or the movement or transport direction of the moving body/transport body. The traveling direction of the moving object or carrier may be detected based on the movement of the legs, the direction of the face or eyeballs (or the direction of movement), or the like.

It should be noted that it is not always necessary to select the running direction of the runner (moving body or carrier) and the opening and closing of the crossing track with the selection button. Detecting means (or detecting means) for detecting the advancing direction of the runner (moving body or conveying body) may be formed by first detecting means comprising timer means and a sensor, and timer means. A memory means capable of storing clock data may be provided in conjunction with the device. In addition, a first detection means is formed in combination with an identification means for detecting an identifier (ID) given to a runner (moving body/transport body), and the traveling direction of each runner (moving body/transport body) is detected. may be detected.

For example, as shown in FIG. 9, in step ST11, the speech recognition unit as the first information acquisition means inputs instruction information regarding the direction of travel, such as "right", "left", and "go straight", into the input unit by pronunciation. In step ST12, the identifier of the runner (moving body/transportation body) is detected by the identification means, and the detection signal (or detection data) from this identification means is associated with each runner (moving body/transportation body). Based on the address data stored in the memory means, the arithmetic unit (arithmetic circuit) identifies or specifies the runner (moving body/carrying body) detected by the identification means; , based on the detection signal from the first sensor (first detection means (or detection means)) in the closed first travel path, the drive unit is driven to open the crossing travel path (if necessary, the guidance lamp row and/or by sounding from a sound system), and in step ST14, timer means capable of timing is started and clocked, and a runner (moving body or carrier) that has entered the branch traveling path is detected by the second Detected by the sensor (first detection means (or detection means)); By the arithmetic unit (arithmetic circuit), the time difference data between the detection signal by the first sensor and the detection signal by the second sensor (first sensor or Entering from the first traveling path to the branching traveling path and exiting from the branching traveling path to the first traveling path based on the positive or negative time difference data calculated based on the detection by the second sensor) may be determined (that is, an entry signal and an exit signal are generated based on the plus or minus of the time difference data, and the advancing direction (entering or exiting direction) of the runner (moving body or carrier) is discriminated or judged. can also be used).

The determination data of the running direction (approaching or leaving direction) of the runner (moving body or conveying body) can be used in subsequent flows as described later.

Contrary to the above, after the first sensor detects the runner (moving body/conveyor) on the first travel path, the detected runner (moving body/conveyor) is detected by the identifying means. Detected runners (moving bodies/carrying bodies) may be identified or specified in the same manner as described above using memory means and arithmetic units (arithmetic circuits).

The guidance device (control unit) may further include a first reporting means for reporting information about the traveling direction or moving part (destination) of the runner (moving body or transport body). The first reporting means may report information about the traveling direction acquired by the first information acquiring means, for example, information or data ( Selection information or detection information (or data) regarding the traveling direction from the selection means or detection means) and information (or data) regarding the running or traveling direction of the runner (moving body or carrier) (to the cross running road described later) (including an erroneous entry signal) are compared by the comparing means, and when the information on the traveling direction from the first information acquiring means and the information on the running direction of the runner match in the comparing means, the running direction of the runner is notified. If they do not match, it may be notified that the traveling direction is wrong, or that the traveling direction needs to be corrected. For example, in the flow shown in FIG. 9, in step ST14, after determining the traveling direction (entering or exiting direction); Conveyor (traveling direction)) is compared with the approaching direction (in the flow of FIG. 8, the traveling direction selected with the selection button) on the predetermined branch traveling path); In step ST17, the first notification means notifies that the running direction is the wrong direction; if they match, in step ST16, the vehicle continues running to a predetermined portion, and an arithmetic unit (arithmetic circuit) may terminate the program when the exit of the runner (moving body or carrier) from the branch path to the first path is detected (when the exit signal is generated).

The notification by the first notification means does not need to be made by both the guidance lamp (light emitting or display means) and the sounding means, and may be made by at least one notification means. The first notification means includes, for example, light emission or display means such as an inductive lamp, pronunciation (for example, the number of pronunciations based on a predetermined rule such as one sound to the right and two sounds to the left), pronunciation that emits a voice guide, etc. The display means such as a guide lamp may be a guide lamp row that is formed of a plurality of lamps and can be sequentially turned on to indicate the direction of travel. It may be an arrow mark or the like. If a row of lamps is formed with a light source with high directivity such as light-emitting diodes (LEDs), the row of lamps can be placed on walkways such as corridors or transport routes in dark places, such as at night, using the high directivity of light. Since the shape can be reflected or projected, it is useful for guiding moving objects or conveying objects.

In step ST17, the program is reset or terminated after the notification is given by the first notification means, but the program does not necessarily have to be terminated. , the step ST13 is performed again (repeatedly or looped) without termination, and based on the detection signal from the first detection means, the drive unit is driven to open the crossing road (light the guidance lamp row if necessary). and/or by pronunciation from a pronunciation system).

As described above, the guidance device includes first detection means (for example, optical sensor A sensor such as a sensor) may be provided, and based on (or in response to) the entry signal from the detection means, the drive unit (actuator) is driven to rotate the opening and closing member, thereby opening the crossing road. It may be closable. For example, as shown in FIG. 10, similarly to the flow shown in FIG. 9, in step ST21, the direction of travel is indicated by voice; Based on (or in response to) the signal, the control unit (control circuit) drives the drive unit to open the crossing lane (notifies by lighting the guidance lamp row and/or sounding from the sound system if necessary). ); in step ST23, the drive unit is driven by the control unit (control circuit) based on (or in response to) the signal from the second sensor that the runner (moving body or carrier) enters the branching path. to block (close) the intersection and exit the program. In such a control unit, it is possible to detect that the preceding runner (moving body or transport body) has entered the branching road and close the crossing road, so that the trailing runner (moving body or transport body) can , it is possible to restrict entry into the intersecting running path, and to suppress or prevent movement to the moving portion of the preceding runner (moving body or transport body).

Instead of the first detection means, a second detection means for detecting whether or not the runner (moving body or conveying body) exists at a predetermined moving part or place is used. Based on (or in response to) the detection signal from the detection means (or the signal indicating the presence of the runner (moving body or carrier)), the drive unit closes the crossing track and the trailing runner (moving body or carrier ) restricts entry into the crossing road, and if there is no detection signal from the second detection means (when there is no detection signal), the drive unit may open the crossing road, and the drive unit may open the crossing road. You may continue to open the driveway.

If necessary, the guidance device (control unit), when the detection means detects that the runner (moving object or transport object) has entered the branching traveling path from the first traveling path, performs detection from the detecting means. Based on (or in response to) the signal, the actuator may return the opening/closing member to the initial position (reference position) (or reset means may be provided for resetting the opening/closing member by returning the opening/closing member to the initial position. may be used).

Furthermore, the guidance device (control unit) guides the runner (moving body or carrier) from the first running path to the branching running path and from the branching running path to the first running path on the crossing running path. the first detection means for detecting; and the second detection means for detecting that the runner (moving body or conveying body) has moved to a predetermined moving part (destination) using the branched running path. timer means for operating a timer to generate a timing signal based on the entry signal from the first detection means; and timer means for generating a timing signal when the timing signal from the timer means exceeds a reference value and the first detection means. and a second notification means for notifying that a predetermined time has elapsed when the exit signal from (no exit signal is generated) and/or the detection signal from the second detection means is not detected. good too. Detection data from the first sensing means are typically stored in memory means and may be used to generate an entry signal and an exit signal.

For example, as shown in FIG. 11, in step ST31, the direction of travel is instructed by voice in the same manner as described above; In step ST33, the runner (moving body/conveying body) detected by the identifying means on the first traveling path is identified or specified; (body) is detected, and the drive unit opens the crossing road (informed by the lighting of the guidance lamp row and/or the sound from the sound system if necessary); A runner (moving body or carrier) is detected, and based on this detection signal, the timer means is operated or started; Based on the time difference data (plus or minus time difference data) between the detection signal (detection data) and the detection signal (detection data) from the second sensor, the entry signal from the first traveling path to the branch traveling path and Generate a exit signal from the branch road to the first road (determine the direction of entry or exit); in step ST36, (1) whether or not the time measured by the timer means is within the reference value; (2) Whether or not the exit signal has been generated, and (3) whether or not movement of the runner (moving body or carrier) to the target position has been detected by the second detecting means is compared and determined; in step ST37. , at least one of these conditions (1) to (3) (especially the first condition, the second condition and/or the third condition, preferably all conditions) is not satisfied When notifying that an abnormality has occurred and satisfying the at least one condition (in particular, the first condition, the second condition and / or the third condition, preferably all conditions), You can exit the program. In such a control unit, after the moving object has moved to a predetermined moving part or place (toilet, washroom, room, etc.) using the branched travel path, it is possible to detect the possibility of some kind of accident. can be notified by the notification means.

In addition, since the first detection means can generate a signal for entering the branch road and a signal for exiting the first road (signal for passing the crossing road), the entrance signal and the exit signal from such detection means can be generated. Based on the signal (for example, based on the time difference between the entry signal and the exit signal), the running direction of the runner (moving body or transport body) can be determined by an arithmetic unit or determination means (arithmetic circuit or determination circuit), Runners' erroneous entry into branch roads can also be determined. Therefore, the determination means may generate an erroneous entry signal. Using such determination means, it is also possible to track the moving direction of the runner (moving body or transport body), and to determine the position of the erroneous entry (branch running path). The second notification means may be a sounding means or transmission means such as an alarm calling attention, a light emitting means for emitting light, or a display means for displaying an erroneous entry.

The guidance device (control unit) is associated with a plurality of intersecting tracks (or branch tracks), and address data ( A plurality of branch paths extend, and address data relating to intended movement or transfer destinations), and runners detected by the first detection means on a plurality of intersecting paths and extending from the first path to the branch paths ( a memory means for storing an entry signal (or data) of a moving body or a carrier) and an exit signal (or data) to a first travel path; based on the entry signal (or data) and exit signal (or data) of the runner (moving body or carrier) and the address data stored in the memory means, the intersection that the runner can enter (or run) Search (or select, collate, or a search means (route selection means or matching determination means) for determining); and based on a search signal (search data or determination signal) from this search means (matching determination means), another crossing road (approach signal is not detected), the opening/closing member is rotated or advanced and retreated to open the crossing path that the runner can enter, and the runner can avoid (or cannot) enter. and a drive unit for closing the intersection with the opening and closing member.

Furthermore, opening and closing of a plurality of intersecting paths may be controlled by opening and closing members using the first information acquiring means and identifiers (IDs) of runners (moving bodies/transport bodies). For example, an identifier "A" is given to a predetermined first runner (moving body/transported body), an identifier "B" is given to another second runner (moving body/transported body), and the identifiers are identified by the identification means. Then, the moving part (target destination) of the first runner A, the address data stored in the memory means, and the preceding one or more second runners B on each of the crossing paths. Based on the entry and/or exit data on the road, the arithmetic unit may search for a plurality of intersecting routes on which runner A can travel, and when there are a plurality of routes, the first runner The optimal route for A (such as the shortest route) may be searched by the arithmetic unit.

For example, as shown in FIG. 12, in step ST41, the voice recognition unit as the first information acquisition means recognizes the first runner (moving body or carrier) as "toilet", "room No. XX", "○ ∘ The phonetic information about the movement position (destination) such as "section" is input to the input unit; The first runner (moving body or conveying body) is specified by the calculation means; in step ST43, the runner (moving body or conveying body) on the first travel path is identified by the first sensor in the same manner as described above. Upon detection, the drive unit opens the crossing road (notifies by lighting of the guidance lamp row and/or sound from the sound system if necessary); Detect runners (moving bodies or conveying bodies) on the branched travel path, and operate or start the timer means based on this detection signal; Using the detection signal of the first detection means (first detection means), the timer means, and the memory means, for the first runner (moving body or conveying body), from the first running path to the branch running path and an exit signal from the branch road to the first road; in step ST46, this entry/exit signal (or data) is associated with a plurality of intersecting roads and stored in the memory means. By collating the address data (address data related to multiple moving parts (target moving positions) where the runner (moving body or carrier) moves), which of the multiple crossing paths is selected Determine or judge (or specify) whether or not a runner (moving body or transport body) has entered; in step ST47, data (the address data and the address data stored in the memory means and the path from the first running path to the branching path); Based on the entry signal (or data) and the exit signal (or data) from the branch road to the first road), search or select a vacant cross road; in step ST48, this searched cross road Based on the path, search for the best possible route (e.g., the shortest route closest to the movement position (destination) via one or more intersecting paths) on which the first runner (mobile or carrier) can travel. In step ST49, based on this search result, one or a plurality of crossing roads where the approach signal is not detected are opened by the opening/closing member, and the crossing road where the approach signal is detected (the runner avoids entering (or Impossible) intersections) may be closed with an opening/closing member. Further, in step ST50, when the second detection means (second detection means) detects that the first runner (moving body or conveying body) has moved to the movement position (destination), the program is terminated. may

In such a control unit, the search means (or route selection means) can search for a crossing road that the runner can enter, and by opening and closing the crossing road, the runner can be directed along the route on which the crossing road is open. can be guided or guided to the movement site (target movement position).

In the flow chart shown in FIG. 12, in step ST41, when a person as a mobile object uses the voice recognition system to utter pronunciation information about the movement position (destination) and input it to the input unit, the above-mentioned It is not necessary to use an identifier to identify the mobile object, and a speech recognition system may be used to identify the mobile object.

Furthermore, in the above example (flowchart), a case (outgoing route) in which the moving body or transport body is moved or transported from the starting site (starting position) to the target site (target position) is described. When returning from the target position) to the starting position (starting position), by setting the target position (target position) as the starting position (starting position), it is possible to open and close the intersecting road on the return route in the same manner as described above.

In addition, the starting part (starting position) does not necessarily have to be a specific part (for example, a specific room that is frequently used by pedestrians such as a living room or a hospital room, or a loading entrance for a carrier). An arbitrary position to which the runner can move may be set as the start site, and the runner may be guided or guided to the movement site (target site). For example, after guiding from the starting site to the first target site, without returning to the starting site, the first target site or its surroundings may be updated as a new starting site and guided to the second target site. Good; the target site may be switched on the way from the starting site to the target site.

Therefore, the guidance device further includes second information acquisition means for acquiring position information (current or latest position information) of the user (or pedestrian) and/or runner (moving body or carrier). may be provided. With the second information acquisition means, even if the runner is running at an arbitrary position, it is possible to easily or efficiently guide or guide the user and/or the runner to the target site based on the position information of the user and/or the runner. That is, by collating the latest position information obtained from the second information acquisition means with the address data in the memory means, it is possible to determine (or update to the latest status) the state of whether or not the vehicle can enter the crossroads, and obtain the result of this determination. By opening and closing the opening/closing member based on (update result), the runner can be guided or guided in response to changes in the situation. In particular, in complex or large facilities, such as facilities with many intersections or branching paths (or facilities with many options for movement or transfer destinations), runners run (or stagnate) at arbitrary positions. Even if the target site is being held, it can be guided or guided to the target site easily or efficiently.

As the second information acquisition means, it is particularly limited as long as it can acquire a signal (position signal or data) regarding the position information (at least the latest position information or current position information) of predetermined or all runners (moving bodies or carriers) Position input means for users (or pedestrians) to input the position information of the runner; Position detection means for detecting the position information of the runner by using radio wave transmission and reception; It may be position detection means for detecting position information. In the position input means, the position information may be input by an input unit (or an input operation unit). For example, input by button selection using a remote controller or the like, input by pronunciation or instruction using a voice recognition system, etc. and so on. Further, the runner position information to be input may be, for example, information (signal or data) regarding an identifier or address data given to each moving part and/or each rail. These acquisition means may be used alone or in combination of two or more. Among these acquisition means, the position detection means and the position detection means are preferable because they are highly convenient because they can save the user from having to input.

The position detection means may be any method that directly or indirectly detects position information using transmission and reception of radio waves. (frame) 54, etc.), etc.) or a method of detecting using a transmitter or receiver (GPS (Global Positioning System) transmitter, GPS receiver, etc.); A method of associating location information of a mobile terminal (mobile phone, smart phone, etc.) possessed by a runner with the location information of the runner.

The position detection means uses a detector, for example, a sensor exemplified as the detection means in the first information acquisition means, a reading unit, etc., to detect the position information (position signal or data) of the runner (moving body or transport body). ) can be detected, for example, by a detector such as a sensor or reading unit installed at a predetermined position (rail, running path, etc.). A method of detecting (or estimating) the runner's position information based on the detection signal (or data) and the position information of the detector that generated this detection signal (or the detection position (running path) where the runner was detected). There may be. Specifically, it may be the first and/or second detection means. In addition, one or a plurality (usually, a plurality) of sensors may be used in the position detection means, and the plurality of sensors may be used for each rail (first rail, branch rail, etc.) or each travel path (first travel roads, bifurcations, intersections, etc.).

The runner position information acquired by the second information acquiring means in this way may be stored in the memory means (recording means or recording unit). Although not always necessary, the position information may be stored in the memory means together with (or in association with) the time data (detection time) at which the position information was acquired. That is, by activating the timing means in response to the acquisition or detection of the position information, generating a timing signal or data (or time data) relating to the acquisition time, and associating the generated time data with the position information, the runner It may be stored in the memory means as a travel history (behavior history or time-series data) of (moving body or transport body). In particular, when the position information (detection signal) is acquired by the position detection means (for example, the first and/or second detection means), if the running history is generated in association with the time data, the runner's latest It is preferable because the (current) location information of the user can be easily grasped.

Also, in the second information acquisition means, as in the first information acquisition means, identifiers (IDs) assigned to runners (moving bodies/transported bodies) are associated with corresponding runner position information, and individual You may grasp as a runner's positional information. Furthermore, as in the above example, the second information acquisition means and identifiers (IDs) of runners (moving bodies/carrying bodies) are used to control the opening and closing of a plurality of intersecting paths by opening and closing members. good too. That is, the identifier "A" is given to a predetermined first runner (moving body/transport body), the identifier "B" is given to another second runner (moving body/transport body), and the position of the first runner A is determined. Information (signal or data about the current location) and moving part (target destination), address data stored in memory means, position information ( The first runner A may search for one or more intersecting routes on which the first runner A can travel, based on the current location signal or data), and when there are multiple routes, the first runner A , the optimum route (such as the shortest route) may be searched by the arithmetic unit.

The typical guidance device (control unit) is, for example,
a second information acquisition means for obtaining position information (signals or data relating to the latest position or current position) of a given runner (moving body/carrying body);
The position information obtained by the second information acquisition means, and address data related to a plurality of moving parts that are associated with a plurality of crossing paths and that the runner can move along the rail (for example, a plurality of moving parts and memory means capable of storing layout diagrams (layout data) or maps (maps, etc.) of rails connecting moving parts;
Based on the position information and address data stored in the memory means, the runner can enter (or run) an intersection running path (for example, an unused branch rail or moving part where there is no preceding runner), and the runner can Collation and determination means (search means or route selection means);
Based on a discrimination signal (retrieval signal or data) from the collation discriminating means, the opening/closing member is rotated or advanced/retracted to open the intersection running path into which the runner can enter, thereby avoiding the entry of the runner. and a drive unit for closing the travel path with the opening and closing member.

For example, as shown in FIG. 13, in step ST51, as the first information acquisition means, a speech recognition unit or the like attached to a runner (moving body or carrier) or its attached member performs the first Input pronunciation information about the movement position or destination (for example, "toilet", "○○ room", "○○ section", etc.) of the runner (moving body or carrier) to the input unit; A voice (or voiceprint) capable of authenticating the voice or voiceprint of a user (pedestrian) recognized by a voice recognition unit as an identifier (ID) of a runner (moving object or vehicle). Identify by identification means such as an authentication unit, and collate with identification data (for example, data that can associate an identifier such as the user's (pedestrian's) voice or voiceprint with the runner) stored in advance in the memory means , specify the first runner (moving body or transport body) to be guided or guided (or to which the input information is input). In step ST53, as the second information acquisition means, the first detection means [runner (moving body or carrier) entering from the first running path to the branching running path and from the branching running path to the first running path detection means for detecting exit to] and/or the second detection means [means for detecting the presence or absence of a runner (moving body or carrier) at a predetermined position (or part))] Positional information and a timing signal (time data or detection time) generated by a timing means that operates in response to detection of this positional information (detection signal) are associated with each other, and based on the travel history stored in the memory means. to acquire the latest position information (signal or data regarding the current location) of all runners (that is, the first runner and one or more preceding second runners); and store it in the memory means in step ST54. Positional information (detection signals or data) of the first runner and the second runner and address data (for example, a layout diagram (layout data) or map of a plurality of moving parts and rails (running paths) connecting between moving parts (map), etc.); in step ST55, based on this collation result, the second runner's position information is not detected and the first runner can pass through (empty) intersecting road (second In step ST56, this searched intersecting road and the first runner's position information (departure position ) and the movement position (destination), an optimal route (for example, one or more crossing paths) along which the first runner (moving body or carrier) can move is determined based on the movement position (destination) in step ST57, based on this search result, one or more of the passable intersections are opened with an opening/closing member (if necessary, lighting and/or sounding of the guidance lamp row (announced by sound from the system), and the crossing track where the second runner's position information is detected (the crossing track where the first runner is approaching and avoids entry) may be closed with an opening/closing member. Further, in step ST58, before the first runner (moving body or conveying body) reaches the moving position (destination), information on changing the moving position (destination) is input to the input unit (first information acquisition). means) (for example, when the destination is changed, such as when stopping at a toilet on the way to the destination), the process proceeds to step ST53 again (or the steps ST53 to ST57 are repeated (or looped). )) to guide or guide (open and close the opening/closing member) the intersecting driveway along the optimum route to the new travel position (destination). Then, in step ST59, when the second detection means detects that the first runner (moving body or conveying body) has moved to the movement position (destination), the program may be terminated.

In steps ST51 and ST58 of the flowchart shown in FIG. 13, the input and change of information on the movement position (destination) (input of information on a new movement position (destination)) are performed using the first information as described above. It may be performed by a voice recognition unit or the like as acquisition means, or may be performed by other means such as button selection by a remote controller or the like.

Further, in step ST53, positional information obtained by the first and/or second detecting means and a timing signal (time data or detection time) corresponding to the positional information (detection signal) are provided as second information acquisition means. , the latest position information (signals or data related to the current location) of the first and second runners is acquired based on the running history linked to the The latest location information may be obtained based on each GPS receiver or transmitter attached to the vehicle.

Further, the opening and closing of the intersecting roads in step ST57 may be performed on all the intersecting roads on the optimum route at once, or sequentially on the intersecting roads where the entry of the first runner is detected by the first detecting means or the like. You can go to

With such a control unit, even if the first runner is at an arbitrary position, particularly at an arbitrary position in a complex or large facility, the position information acquired by the second information acquisition means is used to obtain the second runner. It is possible to search for intersecting roads that one runner can enter, and guide or guide the optimum route to the movement position. Therefore, even if the movement position (destination) changes during the movement, the runner's position information is acquired (or confirmed) each time, the starting position is updated, and the new movement position (destination) is reached. , and can flexibly or flexibly respond to changes in user's (or pedestrian's) behavior or circumstances.

Further, the guidance device (or control unit) may appropriately change the optimum route to the runner's movement position (destination) in accordance with changes in circumstances.

For example, as shown in FIG. 14, steps ST61 to ST67 proceed in the same manner as steps ST51 to ST57. When it is detected that the first runner has entered the road (erroneous entry, etc.), the process moves to step ST63 again (or repeats (or loops) steps ST63 to ST67), and the runner reacquired in step ST63 Search for a new optimal route based on the latest position information of, and guide or guide (open and close the opening and closing member) the intersecting road based on the searched new optimal route; When traveling according to the optimal route, In step ST69, as in step ST59, when the second detection means detects that the first runner (moving body or conveying body) has moved to the movement position (destination), the program can be terminated. good.

Further, as shown in FIG. 15, steps ST71 to ST77 proceed in the same manner as the steps ST51 to ST57 (or ST61 to ST67), and in step ST78, the first runner receives one or more preceding runners. It is determined whether or not the second runner is approaching. If the approaching second runner is not detected; in step ST80, similarly to step ST59 (or ST69), it is determined that the first runner (moving body or conveying body) has moved to the movement position (destination). The program may be terminated when detected by the second detection means. On the other hand, in step ST78, when the approach of the second runner to the first runner is detected by the first and/or second detection means (for example, the track on which the first runner is running and the When the entry of the second runner is detected on the running path adjacent to and connected to the above-mentioned running path, etc.); (Whether there is a risk of contact or collision between the first and second runners), and when it is determined that they will intersect, the above-mentioned Move to step ST73 (or repeat (or loop) steps ST73 to ST77) to search for a new optimal route based on the latest position information of the runner reacquired in step ST73, and search for a new optimal route. Guidance or guidance (opening and closing of the opening/closing member) may be performed based on the route. When it is determined in step ST79 that the roads do not intersect, the program may be terminated by detecting movement to the movement position (destination) in step ST80 as in step ST59.

With such a control unit, the optimum route can be appropriately corrected in response to changes in the runner's movement status, etc., so that the runner can be efficiently guided or guided to the movement position (destination).

Note that the determination in step ST79 of the flow chart shown in FIG. The first runner's optimal route and the second runner's optimal route are collated to determine whether the optimal routes intersect each other ( (whether or not there is a route that overlaps or shares a route).

Also, in step ST79, the optimum route is re-retrieved by shifting to ST73 when the paths intersect, but re-retrieval is not necessarily required. For example, when a crossing of tracks is detected, the crossing running tracks are sequentially run to avoid contact or collision between the runners (moving bodies or conveying bodies). (For example, voice guidance, sounding means such as warning sound, etc.) may be used to notify caution or prompt the user to wait. In addition, when a crossing of paths is detected, a predetermined running path (intersecting running path, etc.) may be opened and closed by an opening/closing member to guide each runner so as to avoid contact or collision. One runner may run first (preferentially) by opening the path of one runner and closing the path of the other runner. When one runner runs preferentially, which runner is selected based on comparison of user (user or pedestrian) information (for example, age, action history, etc.) of each runner stored in advance in the memory means. or to give priority to a runner who arrives at the intersecting running path first (for example, a runner whose entry was detected first by the first detection means). In addition, in the closed first running path (for example, the first running path 2, etc.), each runner enters the intersection running path from a different branching path (for example, the first runner enters from the branching path 4a When a second runner enters the intersecting track 7a from the branching track 6a and enters the intersecting track 7c, and the paths (or optimal routes) intersect with each other, each runner enters the closed form of the first runner. The opening/closing member may be opened/closed so that the vehicle can travel in the same direction (for example, clockwise) along the path (if necessary, a voice guide or the like may be used) to guide or guide the vehicle so as to avoid contact or collision.

In steps ST75 and ST76, when the second runner's optimum route is stored in the memory means, the first runner avoids entering the intersection on the second runner's optimum route. , and search for an optimal route (optimal route for the first runner) that can avoid contact or collision between runners in advance.

The guidance device (control unit) preferably includes at least steps ST51 to ST57 (ST61 to ST67 or ST71 to ST77), and the steps (ST57, ST67 and ST77 ) The transition steps and the like may be combined with each other so that the optimum route can be searched for in response to various situations.

In step ST52 (ST62 or ST72), the voice or voiceprint of the user (pedestrian) and the voice (or voiceprint) authentication unit are used as the identifier (ID) and identification means, and the first runner (moving body or carrier), the means for specifying the first runner (means for specifying the runner to guide or guide) is not particularly limited. Specifically, in the above example, the user (or pedestrian) and a predetermined runner (dedicated runner or frequently used runner) are linked in advance. associated to use or exclusively use], but if it is linked in advance in this way, if only the user (or pedestrian) can be identified, the dedicated runner can be guided or guided by the first runner ( However, in cases where the user (or pedestrian) uses (or borrows) a runner other than the dedicated runner, the dedicated runner is the first There is a risk of being identified as one runner. Therefore, the user (pedestrian) does not necessarily have to be associated with a predetermined runner. The first runner may be identified by matching with the address data and/or running history. In this way, by specifying the first runner based on the position information of the runners to be used, the user (or pedestrian) can select not only a predetermined runner but also any runner among the plurality of runners. Even if there is, it can be easily used (guidance or guidance).

For example, as shown in FIG. 16, in step ST81, a GPS transmitter (or receiver) or portable terminal carried (or possessed) by the user (or pedestrian), or a runner or an accessory thereof to be used (or utilized). By using a GPS transmitter (or receiver) attached to a member or the like, the position information of the user (or the runner to be used) is acquired; By collating with the stored address data and/or the running history of runners (for example, all runners), it is possible to identify which runner the user (or pedestrian) is going to use, and guide or Identify a first runner to guide. In step ST83, as in step ST51 (ST61 or ST71), information on the movement position (destination) is input by the speech recognition unit, button selection, or the like, and the process proceeds to step ST53 (ST63 or ST73), where You may lead or guide one runner.

In step ST81, the position information of the runner to be used is acquired by the position detection means using a GPS transmitter (or receiver) as the second information acquisition means. , the position detection means, the position input means, etc. may be used, or the runner's identifier (ID) and identification means, etc. may be used. For example, a signal (or data) relating to the identifier (ID) of the runner to be used is transmitted to a receiving unit or the like as identification means by selecting a button on a remote controller attached to the runner or its attached member. Current position information of the runner to be used may be obtained by reading the running history of the runner corresponding to the signal (or data) related to the identifier (ID) received or identified in the memory means. In addition, you may utilize these methods individually or in combination of 2 or more types.

In such a control unit, by acquiring the positional information of the runners to be used, the first runner can be easily specified even if predetermined and/or arbitrary runners are used among the plurality of runners. Moreover, the first runner can be easily specified regardless of whether or not the user is tied to the predetermined runner. For example, a user (input person or pedestrian) and a predetermined runner (dedicated runner or frequently used runner) are linked in advance, and the user uses other runners other than the dedicated runner (for example, Even in the case of borrowing the user's exclusive runner), it is possible to accurately guide or guide the user without specifying the user's exclusive runner as the first runner.

The data (memory data, etc.) accumulated by the control unit of the guidance device is sent to an information analysis system, etc., if necessary, and the movement amount (travel distance or total movement distance) of each identifier, until reaching the target position or starting position Based on the time (stray time or stray frequency), the number or frequency of notifications by the second notification means, the travel history (action history or time series data) in the second information acquisition means, etc., people (pedestrians, It may also be used for walking training plans, treatment or rehabilitation plans, and improvements for moving bodies such as users such as the elderly, etc., and for improvement of transport routes for transport vehicles based on predictions of wear and tear on running paths. may be used.

In addition, the guidance device (control unit) gives a drive signal to the drive circuit of the guidance means based on the search signal or data from the search means (or route selection means), and the runner is released according to the guidance by the guidance means. Guidance may be provided along multiple intersecting lanes. Furthermore, based on the search signal or data from the search means (or route selection means), the guidance device (control unit) selects the route to the moving part from among the travel routes formed by the plurality of open cross roads. A travel route with a short distance (shortest route) may be retrieved or selected, and the travel route may be displayed by the display means. The guidance means may be a display means such as a guide lamp or an arrow mark indicating the direction of travel, or a sounding means such as a voice guide for guiding the running direction to the moving part (moving position) of the runner. may

In addition, the identifier (ID) is an identification system (for example, a recognition system (biometric authentication system) capable of recognizing information about a person such as a face recognition system, a fingerprint authentication system, an iris recognition system, a voice authentication (voiceprint authentication) system, an article (such as a recognition system capable of recognizing characteristic information of the article such as the shape of the object), and the identifier (ID) is data or code that can be read by a reader, such as an identification code or a reading code (bar code, QR code (registered trademark), etc.), non-contact tag (IC tag, etc.), IC card, and the like.

The guidance device (control unit) can be mounted not only on the mounting plate but also on a suitable location such as a rail, and may be mounted on the rear surface of the front cover plate. Furthermore, the front cover plate is not necessarily required, and the front cover plate need not necessarily be fitted with the row of guidance lamps. In order to improve the appearance quality, the inside of the bifurcated travel path may be covered with a front cover plate.

The present invention provides a set of members forming the branch rail structure (first rail, branch rail, runner and opening/closing member, connection or coupling means, etc.), the member forming the branch rail structure, and a guide device. (or a control device) (or a plate equipped with a guidance device (or control device)) (for example, a set for transporting a carrier or a movement assistance device, a walking or movement assistance device for a moving body such as the elderly) , etc.).

The branch rail structure and runner guide device (or guide unit) of the present invention can be used, for example, to move or transport transport bodies or transfer bodies (members or articles, etc.), move moving bodies (humans such as the elderly, animals, etc.) It can be used in a wide range of fields, such as opening and closing spaces (walking assistance, etc.). Examples of transport bodies (transport bodies) include transport bodies (or transport members) in factories, farms, hydroponics fields, article sorting places, etc. (for example, processing equipment such as tools to be transported; parts, assembly parts, Members to be subjected to a predetermined treatment, for example, processed objects such as parts to be coated; sorting goods; supply or transportation members such as supply units and hoses for water and nutrient sources, etc.), etc., and space (household, factory , warehouses, stores, garages, vehicles, etc.), for example, partition sheets such as curtains and sheets, and opening and closing members of opening and closing devices such as partition poles can be exemplified.

In the fields of medical care and nursing care, the present invention provides an auxiliary tool or auxiliary device (moving or walking Auxiliary equipment) can be effectively used. By using the assisting device, for example, it is possible to assist (assist) the elderly and the disabled who have difficulty in walking to move to a desired place by walking smoothly and stably. Therefore, the present invention can be used in facilities such as homes, nursing homes, rehabilitation rooms in hospitals, etc., in which a main rail (for example, a first running rail in a closed configuration) is configured with one or a plurality of rails corresponding to each passage. a first rail having a path) and sub-rails (e.g., branched runways) extending from this main rail to predetermined locations (e.g., multiple rooms such as bedrooms, beds, bathrooms, washrooms, toilets, kitchens, entrances, etc.) A branch rail having a branch rail) is arranged to form a plurality of branched running paths, and can be suitably used to assist (support) the movement or walking of the elderly, disabled, etc.; rehabilitation, for example, illness, It can also be suitably used for healing and recovery (maintenance of muscle strength, recovery of muscle strength, prevention of bedriddenness, etc.) from disorders (aftereffects, etc.) associated with injuries due to accidents.

REFERENCE SIGNS LIST 1 first rail 2 closed first running path 2a straight running path 2b, 2c curved running path 3a, 3b, 3c connecting running path 4, 5, 6 branch rail 4a, 5a, 6a... Branched travel path 7 (7a, 7b, 7c)... Intersecting travel path 11... Mounting plate 12... Plate spring member 15... Guide member 16... Axial support portion (fulcrum portion)
17 (17a, 17b, 17c)... Electromagnetic solenoid 18... Front cover plate 19 (19a, 19b, 19c)... Induction lamp row 41... Runner

Claims (11)

a first rail that is attached to the ceiling surface or the ceiling-side space and has a first running path on which the runner can run; at least one branch rail having a drivable branch track, the branch rail structure comprising:
A runner is attached to the branching portion of the first rail and the branch rail without forming a rail having a running route , and the first running route and the branching route are crossed by a drive unit. A branch rail structure having an opening/closing member capable of opening/closing an intersection running path. The rails forming the intersecting runways are fixedly mounted,
The branch rail structure according to claim 1, wherein the opening/closing member includes an elastically deformable flexible member. The opening/closing member comprises a flexible member rotatably supported at one end and elastically deformable in the width direction, and a guide rotatably supported at the other end of the flexible member. and a predetermined portion of the guide member in the longitudinal direction is pivotally supported so that the intersecting road can be opened and closed as the guide member rotates around the pivotal support. 2. The branch rail structure according to 2 above. Having the following (A1) or (A2) rail structure:
(A1) A first rail having a closed first running path on which runners can run; (A2) A first rail having a linear first running path along which runners can run; A rail structure comprising a plurality of branched rails that communicate with one running path, extend at intervals in the longitudinal direction of the first rail, and have branched running paths on which runners can run. wherein an opening/closing member having a rotatable longitudinal direction is pivotally supported on the first rail side of the branching portion between the first rail and the branching rail so as to be rotatable in the width direction of the branching rail. Item 4. A branch rail structure according to any one of items 1 to 3 . A first rail attached to a ceiling surface or a ceiling-side space and having a first running path on which runners can run; A guidance device or unit for guiding the runner to a predetermined rail in an intersecting track crossing at least one branch rail having a track,
An opening/closing member is attached to the branching portion between the first rail and the branch rail without forming a rail having a running path on which runners can run , and is capable of opening and closing the intersecting running path,
Guiding a runner, comprising first information acquiring means for acquiring information on the traveling direction of the runner, and a driving unit for opening and closing the crossing track with an opening/closing member based on the information from the acquiring means. Device. 6. The runner guidance system according to claim 5 , wherein the first information acquisition means comprises selection means for selecting the running direction or movement part of the runner, or detection means for detecting the running direction of the runner. 7. A runner guidance system according to claim 5 or 6 , further comprising a first reporting means for reporting information about the running direction or moving part of the runner. First detecting means for detecting entry of the runner from the first running path into the branching running path is provided, and based on the entry signal from the detecting means, the drive unit is driven to detect the entrance. 8. A runner guiding device according to any one of claims 5 to 7 , wherein the intersecting running path opened with the runner can be closed by an opening/closing member. a first detection means for detecting the entry of the runner from the first track to the branch track and the exit from the branch track to the first track on the intersecting track; timer means for operating a timer to generate a timing signal based on the entry signal from the first detection means; and from the timer means A second timing signal for notifying that a predetermined time has elapsed when the timing signal of exceeds a reference value and the exit signal from the first detection means and/or the detection signal from the second detection means is not detected. 9. The runner guidance device according to any one of claims 5 to 8 , further comprising: first detection means for detecting entry of a runner from the first track to the branch track and exit from the branch track to the first track on the plurality of intersection tracks; and a plurality of cross tracks. address data associated with the path and associated with a plurality of movement locations through which the runner travels, and in a plurality of intersecting tracks, entry signals for the runner from the first track to the branch track and from the branch track to the first track; a memory means capable of storing an entry signal and an exit signal to the runner; based on the entry signal and exit signal of the runner at a predetermined intersection among the plurality of intersections and the address data stored in the memory means , collation and discrimination means for collating or discriminating between crossing roads that runners can enter and crossing roads that runners should avoid; and a drive unit for opening the intersecting road into which the runners can enter with the open / close member and closing the intersecting road into which the runners are repelled by the open/close member. A guidance device for the described runner. second information acquisition means for obtaining positional information of the runner; memory means capable of storing the obtained positional information and address data relating to a plurality of moving parts to which the runner moves, which are associated with the crossing track; collation and discrimination means for collating or discriminating between crossing roads that runners can enter and crossing roads that runners cannot enter based on the position information and address data in the memory means; and a drive unit for opening the intersecting road into which the runner can enter and closing the intersecting road into which the runner is repelled by the opening and closing member based on the discrimination signal. Runner guidance device according to claim 1.

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