JP5799901B2 - Guide system for transfer assist device - Google Patents

Description

  The present invention relates to a guide system for a transport assisting device that guides a transport assisting device that assists in transporting an object (for example, a bed, a loading platform, or an apparatus) having casters.

  Patent Document 1 discloses a conveyance auxiliary device. The conveyance assist device is attached to the bed and generates a driving force to assist the conveyance of the bed. Patent Document 2 discloses a system for automatically running a wheelchair. The system has a wheelchair and a host computer. The host computer instructs the wheelchair to travel toward the destination. The wheelchair travels automatically to the destination based on the command.

JP-A-8-317953 Japanese Patent No. 3909300

  However, the conveyance assist device does not travel automatically but assists the conveyance when a relatively large object such as a bed is conveyed to the destination. For this reason, a system that is suitable for traveling an object to a destination by using a conveyance auxiliary device has been conventionally required.

  According to one feature, the present invention comprises a transport assist device and a host device. The conveyance assist device assists the conveyance of the object by being attached to the object and generating a driving force. The host device guides the conveyance assist device. The host device includes a position detector, a destination acquisition machine, a route determination machine, and a transmitter. The position detector detects the current position of the conveyance assisting device. A destination acquisition machine acquires the destination of a conveyance auxiliary device. The route determination machine determines a route from the current position to the destination. The transmitter transmits a route information signal from the route determination device to the conveyance auxiliary device. The conveyance auxiliary device has a receiver and a transmitter. The receiver receives a route information signal. The transmitter transmits a route to the destination to the user based on the route information signal.

  Therefore, the user who uses the conveyance assisting device obtains information on the route to the destination by the transmitter. Therefore, the user can transport the object without getting lost at the destination. For example, when a bed is transported to an operating room or the like in a large hospital, it is necessary to transport the bed in a short time. This technique is useful in such a case. Since the conveyance assisting device assists the user and conveys the object, the speed can be determined by the user. Therefore, the user can select the speed of the object as appropriate and can transport the object suitably.

It is a perspective view of a bed and a conveyance auxiliary device. It is a perspective view of the operating device of a conveyance auxiliary device. It is a block diagram of a guidance system. It is a top view of the passage of a building. It is a floor plan of a building. It is a top view of a bed and a conveyance auxiliary device when the bed goes straight. It is a top view of a bed and a conveyance auxiliary device when a bed bends and advances. It is a top view of a bed and a conveyance auxiliary device when the bed moves laterally. It is a top view of a bed and a conveyance auxiliary device when the bed turns.

  One embodiment of the present invention will be described with reference to FIGS. As shown in FIG. 3, the guidance system 9 includes a conveyance auxiliary device 1 and a host device 10. The host device 10 is used to guide the conveyance auxiliary device 1 to the destination. The conveyance assisting device 1 is used when the bed 4 is conveyed by one nurse 6 or the like as shown in FIG.

  The bed 4 has a bed body 4a and a bed height adjusting mechanism 4c as shown in FIG. The bed body 4a has a frame composed of a plurality of metal pipe members. Boards 4b are erected on the front and rear ends of the bed main body 4a. The mattress 4g is installed on the bed body 4a, and the patient 5 can lie on the mattress 4g.

  The bed height adjusting mechanism 4c has a base and a link mechanism. As shown in FIG. 1, casters 4d are provided at the four corners of the base. The link mechanism is provided between the base and the bed body 4a. The mode of the link mechanism is changed by the motor, and the height of the bed body 4a is adjusted with respect to the base.

  The conveyance auxiliary device 1 includes an operating device 2 and a traveling carriage 3 as shown in FIG. The controller 2 is attached to one end of the bed 4 in the longitudinal direction. The traveling carriage 3 is attached to the other end of the bed 4 in the longitudinal direction.

  As shown in FIG. 2, the operating device 2 includes an operating body 2a, a pair of mounting bodies 2b, and a display device 2k. The mounting body 2b includes an extending member 2b1, a mounting plate 2b2, and a cam 2b3. As shown in FIG. 1, the extending member 2 b 1 extends above the board 4 b of the bed 4 in the front-rear direction and extends downward from the front-rear end. The attachment plate 2b2 is attached to the distal end portion of the extending member 2b1 and abuts on the board 4b of the bed 4.

  As shown in FIG. 2, the cam 2b3 is rotatably attached to the proximal end portion of the extending member 2b1. The cam 2b3 rotates with respect to the extending member 2b1, and changes the distance from the mounting plate 2b2. Therefore, the operating device 2 is detachably mounted on the board 4b of the bed 4 by the cooperation of the cam 2b3 and the mounting plate 2b2.

  The operating body 2a has a rod shape as shown in FIG. Springs 2e and 2f are provided between the operating body 2a and the mounting body 2b. The springs 2e and 2f are spiral springs. The right sensor 2g is attached to the spring 2e, and the left sensor 2h is attached to the spring 2f. The right sensor 2g and the left sensor 2h are strain gauges or the like that detect the amount of strain of the springs 2e and 2f. The right sensor 2g and the left sensor 2h transmit detection signals corresponding to the magnitude and direction of the force applied to the right part and the left part of the operating body 2a.

  As shown in FIG. 2, a grip 2c is provided at one end of the operating body 2a. A turning / lateral movement operation member 2d is attached to the other end. The grip 2 c is immovable with respect to the operation body 2 a and is gripped by one hand of the nurse 6. The turning / lateral movement operating member 2d is attached to the operating body 2a so as to be rotatable about the operating body 2a and is held by the other hand of the nurse 6. The turning / lateral movement operating member 2d is biased to an initial position by a biasing member (not shown) and can be rotated in both the front and rear directions with respect to the operating body 2a.

  An operation amount detection sensor 2i is provided in the operation body 2a as shown in FIG. The operation amount detection sensor 2i transmits a signal corresponding to the amount and direction of movement of the turning / lateral movement operation member 2d with respect to the operation body 2a. The operation amount detection sensor 2i is, for example, a potentiometer that detects an angle of the turning / lateral movement operation member 2d with respect to the operation body 2a.

  The operating body 2a is provided with a transceiver 2j as shown in FIG. The transceiver 2j is connected to the right sensor 2g, the left sensor 2h, and the operation amount detection sensor 2i by electric wiring. The transceiver 2j transmits the signal received from the sensors (2g, 2h, 2i) to the traveling carriage 3 wirelessly or by wire.

  The display device 2k is attached to the operation body 2a as shown in FIG. The display device 2k has a display screen and displays information received by the transceiver 2j. The display device 2k is also used as an input device. For example, the display device 2k has a display screen that is a touch panel, or has buttons and the like.

  The traveling carriage 3 has a carriage body 3b and drive wheels 3a as shown in FIG. A lower engagement member 3c is provided at the lower portion of the cart body 3b, and an upper engagement member 3d is provided at the upper portion of the carriage body 3b. The lower engagement member 3c engages with the lower portion of the bed body 4a by lowering the bed body 4a. The upper engagement member 3d is locked to the upper part of the board 4b.

  As shown in FIG. 1, drive wheels 3a are attached to the cart body 3b so as to be rotatable around a vertical line. The cart body 3b is provided with a steering angle changing machine 3f that changes the steering angle of the drive wheels 3a. A drive motor 3e is connected to the drive wheel 3a, and the drive motor 3e rolls the drive wheel 3a. The driving force generated by the drive motor 3e is limited to such a size that the bed 4 cannot be conveyed only by the carriage body 3b.

  As shown in FIG. 1, the cart body 3b includes an ID detector 3h, a mark detector 3i, a transceiver 3g, and a controller 3j. The ID detector 3h reads the information recorded in the ID when the user brings the ID card close to the ID detector 3h. The mark detector 3i detects the mark 18 provided in the passages 7c and 7e of the building 7 as shown in FIGS. The mark 18 is formed of, for example, an IC chip having a predetermined color, a magnetic tape, an integrated circuit, or the like. Position information and the like are recorded on the IC chip. The mark detector 3 i detects the color of the mark 18 or reads information recorded on the mark 18.

  The host device 10 includes a host computer 11, a camera 12, and a transceiver 13 as shown in FIGS. The camera 12 is attached to the ceiling or wall of the building 7 to obtain video information of the passages 7c and 7e of the building 7. The transceiver 13 is mounted on the ceiling or wall of the building 7 and exchanges signals with the conveyance auxiliary device 1 wirelessly.

  As shown in FIGS. 3 and 5, the host device 10 further includes an elevator operating device 16, a door opening / closing device 14, and a receiver 15. The elevator operating device 16 is connected to the host computer 11 and operates an elevator 17 provided in the building 7. The door opening / closing device 14 and the receiver 15 are provided on the door 8. The receiver 15 receives the ID information transmitted from the transceiver 3g of the conveyance assisting device 1. The door opening / closing device 14 opens and closes the door 8 based on a signal from the receiver 15.

  When moving the conveyance auxiliary device 1 to the destination, first, as shown in FIGS. 3 and 5, the user brings the ID card close to the ID detector 3h. The ID detector 3h reads ID information from an ID card or the like. Based on the ID information, the controller 3j (output permission machine) determines whether or not to allow the drive motor 3e to output a driving force.

  When the controller 3j permits output of the driving force, the transceiver 3g issues a signal to the transceiver 13 and the transceiver 2j. The plurality of transceivers 13 transmit the strength of the signal from the transceiver 3g to the host computer 11 as a signal. The host computer 11 obtains the current position of the conveyance assisting device 1 based on the strength information of the signals from each transceiver 13. That is, the current position of the conveyance auxiliary device 1 is detected by a position detector constituted by the transceiver 13 and the host computer 11.

  As shown in FIGS. 3 and 5, the user inputs destination information to the display device 2k that also serves as an input device. The destination information is transmitted from the transceiver 2j to the transceiver 13 and acquired by the host computer 11. In other words, the destination of the transport assisting apparatus 1 is acquired by the destination acquisition machine including the transceiver 13 and the host computer 11.

  As shown in FIGS. 3 and 5, the host computer 11 determines an optimum route 7g from the current position to the destination based on the destination information (room 7f, etc.) and the current position information (room 7d, etc.) as a route determination machine. To do. A path information signal emitted from the host computer 11 is sent from the transceiver 13 to the transceiver 2j. The display device 2k indicates a route from the current location to the destination based on the route information signal. The display device (transmitter) 2k transmits the route to the destination to the user's vision.

  As shown in FIGS. 3 and 5, the user pushes the operating device 2 while confirming the route 7g displayed on the display device 2k. A signal is transmitted by detecting the pressing force of the left sensor 2h and the right sensor 2g of the controller 2. The signal is transmitted from the transceiver 2j to the traveling carriage 3. The controller 3j determines the magnitude of the driving force of the driving wheels 3a based on signals from the left sensor 2h and the right sensor 2g. The bed 4 advances by the driving force of the traveling carriage 3 and the force pressed by the user.

  As shown in FIGS. 3 and 5, the controller 3j determines the steering angle of the drive wheels 3a based on signals from the host computer 11 and the mark detector 3i. The host computer 11 transmits a signal along the route of the destination while confirming the current position of the conveyance assisting device 1. The signal is transmitted from the transceiver 13 to the transceiver 3g. The controller 3j determines the steering angle of the drive wheel 3a based on the signal. Further, the controller 3j corrects the steering angle of the drive wheels 3a based on the signal from the mark detector 3i so that the traveling carriage 3 advances along the mark 18 (automatic steering mode).

  As shown in FIGS. 3 and 5, the host computer 11 confirms whether or not the conveyance auxiliary device 1 has approached the elevator 17 while confirming the current position of the conveyance auxiliary device 1. When the conveyance auxiliary device 1 approaches the elevator 17, the host computer 11 controls the elevator operating device 16 as an elevator controller. The elevator operating device 16 moves the car of the elevator 17 to the floor 7a where the conveyance assisting device 1 is located. Thereby, the time waiting for the elevator 17 can be shortened.

  The car of the elevator 17 is moved to the destination floor 7b by the elevator operating device 16 based on a signal transmitted from the host computer 11. Alternatively, the user presses the button of the elevator 17 based on the information displayed on the display device 2k. Based on this, the car of the elevator 17 moves to the destination floor 7b.

  As shown in FIGS. 3 and 5, the transceiver 3g periodically transmits ID information as an ID information transmitter. When the conveyance auxiliary device 1 approaches the door 8, the receiver 15 of the door 8 receives the ID information. The door opening / closing machine 14 opens the door 8 based on the ID information. Thus, the user can transport the bed 4 to the room 7f as the destination without releasing the hand from the controller 2 and approaching the door 8.

  The host computer 11 determines whether there are obstacles in the passages 7c and 7e based on the video information from the camera 12 as shown in FIGS. That is, the camera 12 and the host computer 11 detect an obstacle as an obstacle detector. When the host computer 11 determines that the conveyance assisting device 1 has approached the obstacle, the host computer 11 transmits the obstacle information. Obstacle information is transmitted from the transceiver 13 to the transceiver 2j, and the obstacle information is displayed on the display device 2k. The display device (transmitter) 2k transmits obstacle information as characters or diagrams to the user's vision.

  When the transceiver 3g receives the obstacle information, the controller 3j switches from the automatic steering mode to the manual steering mode. In the manual steering mode, the automatic steering mode is canceled, and the steering angle of the traveling carriage 3 can be determined by the user. When the user presses the operating device 2, the controller 3j calculates a force difference applied to the left and right of the operating device 2 based on signals from the left sensor 2h and the right sensor 2g. The controller 3j controls the steering angle changer 3f according to the magnitude of the force difference and the sign of the force difference to determine the steering angle of the drive wheel 3a.

  When the force applied to the right side of the controller 2 is the same as the force applied to the left side, the axle of the drive wheel 3a is orthogonal to the longitudinal direction of the bed 4 as shown in FIG. When the nurse 6 or the like pushes the operating device 2, the bed 4 goes straight, and when the operating device 2 is pulled, the bed 4 recedes straight.

  When the force applied to the right side of the controller 2 is greater than the force applied to the left side, the axle of the drive wheel 3a rotates counterclockwise in FIG. 7 from a position orthogonal to the longitudinal direction of the bed 4 as shown in FIG. To do. When the nurse 6 or the like pushes the bed 4, the bed 4 turns to the left and moves forward. When the force that pulls the left side of the controller 2 is larger than the force that pulls the right side, the bed 4 bends in the right direction and moves backward.

  When the force applied to the left side of the controller 2 is greater than the force applied to the right side, the axle of the drive wheel 3a rotates clockwise in FIG. 7 from a position orthogonal to the longitudinal direction of the bed 4. When the nurse 6 or the like pushes the bed 4, the bed 4 turns to the right and moves forward. When the force pulling the right side of the operating device 2 is larger than the force pulling the left side, the bed 4 bends in the left direction and moves backward.

  When the turning / lateral movement operation member 2d shown in FIG. 2 is operated, the operation amount detection sensor 2i generates a signal. As shown in FIG. 1, the controller 3 j controls the steering angle changing machine 3 f so that the axle of the drive wheel 3 a is substantially parallel to the longitudinal direction of the bed 4. The controller 3j determines the rotation direction of the drive wheels 3a based on the rotation direction of the turning / lateral movement operation member 2d. The controller 3j determines the torque applied to the drive wheels 3a in proportion to the operation amount of the turning / lateral movement operation member 2d.

  As shown in FIG. 8, when the nurse 6 or the like pushes the bed 4 in the same direction as the traveling carriage 3, the bed 4 moves laterally in one direction orthogonal to the longitudinal direction of the bed 4. As shown in FIG. 9, when the nurse 6 or the like pushes the bed 4 in the direction opposite to the traveling carriage 3, the bed 4 turns on the spot.

  The host computer 11 switches from the manual steering mode to the automatic steering mode when the conveyance assisting device 1 determines that the obstacle has been exceeded. Preferably, when the conveyance auxiliary device 1 determines that the obstacle has been exceeded and the mark detector 3i detects the mark 18, the manual steering mode is switched to the automatic steering mode.

  As described above, the guide system 9 includes the conveyance auxiliary device 1 and the host device 10 as shown in FIG. The conveyance auxiliary device 1 is attached to the object and generates a driving force to assist the conveyance of the object such as the bed 4. The host device 10 guides the conveyance auxiliary device 1. The host device 10 includes position detectors 11 and 13, a destination acquisition device 11, a route determination device 11, and a transceiver 13.

  The position detectors 11 and 13 detect the current position of the conveyance auxiliary device 1. The destination acquisition machine 11 acquires the destination of the conveyance auxiliary device 1. The route determiner 11 determines a route from the current position to the destination. The transceiver 13 transmits a route information signal from the route determination device to the conveyance assisting device 1. The conveyance auxiliary device 1 includes a transceiver 2j and a transmitter (display device 2k). The transceiver 2j receives the route information signal. The transmitter 2k transmits a route to the destination to the user based on the route information signal.

  Therefore, the user who uses the conveyance auxiliary device 1 obtains information on the route to the destination by the transmitter 2k. Therefore, the user can carry the bed 4 without getting lost at the destination. For example, when the bed 4 is transported to an operating room or the like in a large hospital, it is necessary to transport the bed 4 in a short time. This technique is useful in such a case. Since the conveyance assisting apparatus 1 assists the user and conveys the bed 4, the speed can be determined by the user. Therefore, the user can select the speed of the bed 4 appropriately and can transport the bed 4 suitably.

  The conveyance auxiliary device 1 includes a steering angle changing machine 3f and a controller 3j as shown in FIG. The steering angle changing machine 3 f changes the steering angle of the conveyance assisting device 1. The controller 3j controls the steering angle changing machine 3f based on the signal from the route determining machine 11. Therefore, the traveling direction of the bed 4 is determined by the conveyance assisting device 1 changing the steering angle toward the destination. This eliminates the need for the user to pay attention to the steering angle operation and only pays attention to the speed. Thus, the bed 4 can be transported to the destination simply and accurately.

  As shown in FIG. 3, the host device 10 includes a camera 12 that obtains image information of a passage and an obstacle detector 11 that detects an obstacle in the passage based on the image information. The controller 3j has an automatic steering mode and a manual steering mode. In the automatic steering mode, the controller 3j determines the steering angle based on the route information signal. In the manual steering mode, the controller 3j cancels the automatic steering mode when it is determined that an obstacle is nearby based on the detection signal from the obstacle detector 11.

  Therefore, the controller 3j enters the automatic steering mode when there is no obstacle, and enters the manual steering mode when there is an obstacle. Therefore, when there is an obstacle, the user can manually change the steering angle. Thereby, the bed 4 can be transported to the destination while appropriately avoiding obstacles.

  The host apparatus 10 includes a camera 12 and an obstacle detector 11 as shown in FIG. The transmission device (display device 2k) of the conveyance auxiliary device 1 transmits the presence of the obstacle to the user based on the detection signal from the obstacle detector 11. Therefore, the transmitter 2k can notify the presence of an obstacle as well as a route to the destination. As a result, the user can transport the bed 4 to the destination while avoiding obstacles. For example, when a user conveys a large object such as the bed 4, it is difficult to recognize an obstacle hidden in the object. Even in this case, the user can recognize the obstacle by the transmitter 2k.

  The host device 10 has marks 18 provided in the passages 7c and 7e as shown in FIG. The conveyance auxiliary device 1 includes a mark detector 3 i that detects the mark 18. Based on the signals from the mark detector 3i and the route determiner 11, the controller 3j determines the steering angle. Therefore, the conveyance assisting device 1 can travel along the mark 18. Thereby, the conveyance auxiliary device 1 can travel in a predetermined place in the passages 7c and 7e with good stability.

  As shown in FIG. 3, the conveyance auxiliary device 1 includes an ID detector 3h and an output permission machine (controller 3j). The ID detector 3h detects the user's ID information. The output permission machine 3j permits the output of driving force according to the ID information. Therefore, only a predetermined user can drive the conveyance assisting device 1. Therefore, it is possible to prevent the conveyance assisting device 1 from being used by another person without permission.

  The conveyance auxiliary device 1 includes an ID detector 3h and an ID information transmitter (transmitter / receiver 3g) as shown in FIG. The ID information transmitter 3g transmits the ID information to the door 8 that opens and closes based on the ID information. Therefore, when the conveyance assisting device 1 approaches the door 8, the door 8 can be opened based on the ID information. Therefore, the user does not have to approach the door 8 in order to read the ID information when the bed 4 is being transported. Thus, the bed 4 can be easily transported to the destination.

  As shown in FIG. 3, the host device 10 includes an elevator operating device 16 and an elevator controller 11. The elevator operating device 16 operates an elevator 17 provided in the building 7. The elevator controller 11 controls the elevator operating device 16 based on the current position and destination information of the conveyance auxiliary device 1. Therefore, the elevator 17 can be controlled so that the elevator 17 car arrives at the floor where the conveyance assisting device 1 is located when the conveyance assisting device 1 approaches the elevator 17. Thereby, the time waiting for the car of the elevator 17 can be shortened.

  Although the embodiments of the present invention have been described with reference to the above structure, it will be apparent to those skilled in the art that many alternations, modifications, and changes can be made without departing from the scope of the present invention. Accordingly, aspects of the invention may include all alterations, modifications, and changes that do not depart from the spirit and scope of the appended claims. For example, the form of the present invention is not limited to the special structure, and can be modified as follows.

  The object to be transported by the transport assisting device 1 may be the bed 4 or a loading platform having casters or an apparatus having casters. For example, it may be a loading platform on which meals, medical instruments, articles, etc. are loaded and transported in a hospital or factory. For example, a device such as a medical device may be used.

  The host device 10 may guide the conveyance auxiliary device 1 in the building 7 or may guide the conveyance auxiliary device 1 outdoors. When guiding outdoors, the guidance system 9 can use GPS or the like.

  The building 7 may be a hospital, a factory, a school, or the like.

  The traveling carriage 3 and the operating device 2 may be formed separately or integrally.

  The position detector that detects the current position of the conveyance auxiliary device 1 may be configured by the camera 12 and the host computer 11 instead of the above configuration. The camera 12 captures the image of the conveyance auxiliary device 1. The host computer 11 detects the position of the conveyance assisting device 1 from the video data transmitted from the camera 12. Or a position detector may be comprised from the signal transmitter and host computer 11 which a user possesses. The host computer 11 detects the position of the conveyance assisting device 1 used by the user based on the signal transmitted from the signal transmitter.

  The destination acquisition machine may be composed of a transceiver 3g and a host computer 11 instead of the above configuration. The transceiver 3g transmits ID information in which destination information is recorded. The host computer 11 obtains destination information issued from the transceiver 3g. Alternatively, the destination acquisition machine may be composed of a recorder and the host computer 11. The recorder records destination information related to the ID information. The host computer 11 acquires destination information from the recorder based on the ID information.

  The transmitter that transmits the route to the destination to the user may be a voice generator that transmits the voice to the user's hearing instead of the display device 2k. Alternatively, the transmitter may be a vibration generator that vibrates the operating device 2 and transmits it to the user.

  The steering angle changing machine 3f may change the driving angle by rotating the driving wheel 3a around the vertical axis as described above. Alternatively, the traveling carriage may have two drive wheels, and the steering angle changer may change the drive angle of the drive wheels by generating a speed difference between the two drive wheels.

  The controller 3j may determine the steering angle based on signals from the mark detector 3i and the route determination device, or may determine the steering angle based only on signals from the route determination device.

  When the obstacle detector 11 detects an obstacle, route information that bypasses the obstacle may be reacquired by the route determination device. In that case, the automatic steering mode can be maintained.

  The ID detector 3h may be provided on the traveling carriage 3 as described above. Instead of this, an ID detector may be provided in the controller 2 and the ID information may be transmitted by the transceiver 2j. Alternatively, the ID detector may be provided separately from the controller 2 and the traveling carriage 3.

  The user ID information may be stored in an ID card as described above, or may be stored in a mobile phone or the like.

  The output permission machine that permits the output of the driving force according to the ID information may be configured by the controller 3j or may be configured by a device that is provided separately from the controller 3j.

1 Transfer auxiliary device 2 Operating device 2k Display device (transmitter)
2j transceiver (transmitter)
3 Traveling cart 3f Steering angle changing machine 3g Transceiver (ID information transmitter)
3h ID detector 3i mark detector 3j controller 3e drive motor 3a drive wheel 4 bed (object)
5 Patient 6 Nurse (user)
7g Route 7c, 7e Passage 8 Door 9 Guidance system 10 Host device 11 Host computer 12 Camera 13 Transceiver 14 Door opener 15 Receiver 16 Elevator operation device 17 Elevator 18 Mark

Claims (8)

A guide system for a conveyance auxiliary device,
A transport auxiliary device that is mounted on the bed or the cargo bed and generates a driving force to assist the conveyance of the bed or the cargo bed, and a host device that guides the conveyance auxiliary device;
The host device includes a position detector that detects a current position of the conveyance auxiliary device, a destination acquisition device that acquires a destination of the conveyance auxiliary device, and a route that determines a route from the current position to the destination A determiner, and a transmitter for transmitting a route information signal from the route determiner to the conveyance auxiliary device,
The conveyance auxiliary device has an operating device and a traveling carriage that generates the driving force,
The operating machine, possess a receiver for receiving the route information signal, a transfer machine for transferring a route to the destination to a user of the operating device on the basis of the routing information signal,
The traveling carriage has a steering angle changing machine that changes a steering angle of the traveling carriage, and a controller that controls the steering angle changing machine based on a signal from the route determining machine,
The host device has a camera that obtains video information of a passage, and an obstacle detector that detects an obstacle in the passage based on the video information,
When the controller of the traveling vehicle determines that the obstacle is nearby based on an automatic steering mode that determines the steering angle based on the route information signal and a detection signal from the obstacle detector A manual steering mode for canceling the automatic steering mode;
The operating device transmits an operation signal from a sensor that detects a force applied to the operating device to the traveling carriage,
The controller of the traveling carriage controls the traveling carriage to control the traveling carriage so as to generate the driving force based on the operation signal from the operating device in both the automatic steering mode and the manual steering mode. system. It is a guidance system for conveyance auxiliary equipment according to claim 1,
The operating device includes a left auxiliary sensor that detects a force applied to the left side of the operating device and a right sensor that detects a force applied to the right side of the operating device as the sensors. It is a guidance system for conveyance auxiliary equipment according to claim 2,
  The controller determines the magnitude of the driving force based on operation signals from the left sensor and the right sensor in the automatic steering mode and the manual steering mode, and in the manual steering mode, the controller A guide system for a conveyance assist device that determines a steering angle by calculating a difference between a force applied to the left side of the operating device and a force applied to the right side of the operating device based on an operation signal from a right sensor. It is a guidance system for conveyance auxiliary equipment according to any one of claims 1 to 3 ,
The said transfer machine is a guidance system for conveyance assistance apparatuses which transmits presence of the said obstruction to the user of the said operating device based on the detection signal from the said obstruction detector. It is a guidance system for a conveyance auxiliary device according to any one of claims 1 to 4,
The host device has a mark provided in the passage,
The conveyance assist device includes a mark detector that detects the mark, and the controller determines the steering angle based on signals from the mark detector and the route determination device. It is a conveyance auxiliary device guide system according to any one of claims 1 to 5,
The conveyance auxiliary device has an ID detector that detects ID information of a user of the operating device, and an output permission device that permits output of the driving force according to the ID information. It is a guide system for conveyance auxiliary devices according to any one of claims 1 to 6,
The transport assisting device includes an ID detection device for detecting the ID information of the user of the operating device, the ID information transmitter for transmitting the ID information,
The host device is installed on a door provided in the middle of the path of the conveyance auxiliary device and receives the ID information, and opens and closes the door based on the ID information received by the receiver. A guide system for a conveyance assisting device that includes a door opening and closing device, and opens the door when the conveyance assisting device approaches the door and the receiver receives the ID information . It is a guidance system for conveyance auxiliary devices according to any one of claims 1 to 7,
The host device includes an elevator operating machine that operates an elevator provided in a building, and a transport auxiliary device that includes an elevator controller that controls the elevator operating device based on information on the current position and the destination of the transport auxiliary device. Guidance system.

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