JP2017011924A - Power transmission system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To realize a power transmission system in which an electric field power transmission technique is applied for a mobile, the movement range of which is the range of an arbitrary area with an arbitrary shape.SOLUTION: Peripheral parts of flanges of a pair of upper and lower rails 7 in adjacent two basic units 16 are joined. Thereby, a space for moving a mobile truck 8 while a coupling capacity is formed as a movement path by at least one of a plurality of power transmission electrodes 20 and a power receiving electrode 18. The flanges below the rails 7 in the adjacent basic units 16 are separated from each other. Thereby, a slit 21 for projecting a nozzle 34 from the movement path is formed. The mobile truck 8 comprises a magnetic MEMS 46 for switching a polarity for the power receiving electrode 18 according to the polarity of the power transmission electrode 20, and has, as the power receiving electrode 18, a power receiving electrode 18 serving as one of a cathode and an anode, and another power receiving electrode 18 serving as the other of the cathode and the anode.SELECTED DRAWING: Figure 20

Description

  The present invention relates to a power transmission system for performing power transmission to various loads.

The present inventor has already invented the “electric field coupling method” as a new method of power transmission, and has already developed a circuit technology capable of realizing the new method (hereinafter referred to as “electric field coupling power transmission technology”). Invented (see Patent Documents 1 to 3).
In electric field coupled power transmission technology, two metal plates (conductive plates) are made to face each other, and a capacitor (such a capacitor is hereinafter referred to as a “junction capacitance”) is formed using these two metal plates as electrode pairs. In this state, a non-contact power transmission is realized by flowing a high-frequency current.

  A power transmission system to which electric field coupling power transmission technology is applied includes a power transmission unit that transmits power from a power source and a power reception unit that receives power from the power transmission unit and supplies the power to a load. In this case, the junction capacitance is formed by making the metal plate (electrode) provided at the end of the power transmission unit and the metal plate (electrode) provided at the tip of the power reception unit face each other.

JP 2009-38329 A JP 2009-89520 A JP 2010-193692 A

  There has been a demand for supplying electric power by applying an electric field coupling power transmission technique to a moving body having an arbitrary area of an arbitrary shape and a moving range.

  The present invention has been made in view of such a situation, and provides a power transmission system in which an electric field coupling power transmission technique is applied to a moving body having a range of an arbitrary area of an arbitrary shape as a moving range. With the goal.

The power transmission system of one embodiment of the present invention is:
A plurality of first surfaces on which one power transmission electrode is disposed in an electrode pair forming a coupling capacitance in the electric field coupled power transmission technology, and a second surface disposed apart from the first surface. Unit of
A movable body having a receiving electrode on the other side of the electrode pair forming a coupling capacity in the electric field coupled power transmission technology, and a protrusion;
A power transmission system comprising:
Among the plurality of units, by combining the peripheral portions of the first surface and the second surface of two adjacent units, at least one of the plurality of power transmission electrodes and the power reception electrode A space for moving the moving body in a state where the coupling capacitance is formed is formed as a movement path,
Among the plurality of units, the second surfaces between the adjacent units are separated from each other, so that a slit for projecting the projection from the movement path is formed,
The moving body includes a switch that switches a polarity of the power receiving electrode in accordance with a polarity of the power transmitting electrode constituting the electrode pair.

A plurality of the power transmission electrodes are arranged along the movement path in the first surface,
Each of the plurality of power transmission electrodes is inverted in polarity with other adjacent power transmission electrodes,
Can be.

Each of the plurality of units has a rectangular shape when viewed from the bottom, and is arranged in a lattice shape when viewed from the bottom.
Each of the plurality of power transmission electrodes has an L-shape, and is arranged to be insulated from the unit body portion at the four corners of the unit.
Can be.

Each of the plurality of units is
A high frequency power supply for supplying power to the power transmission electrode;
A drive control unit that executes control to drive the high-frequency power source when at least a part of the moving body is present;
Can be provided.

Each of the plurality of units and the mobile body further includes a communication unit that communicates with each other.
The drive control unit recognizes the position of the moving body based on communication by the communication unit, and executes control to drive the high-frequency power source based on the recognition result.
Can be.

  According to the present invention, it is possible to provide a power transmission system in which an electric field coupling power transmission technique is applied to a moving body having a range of an arbitrary area and an arbitrary area.

It is a schematic diagram of the fall prevention system which employ | adopted the electric power transmission system of this invention. It is a figure which shows the fall prevention system attached to the ceiling, FIG. 2 (a) is a longitudinal cross-sectional view of a fall prevention system, FIG.2 (b) is a bottom view of a fall prevention system. It is a longitudinal cross-sectional view of the fall prevention system which shows the example of matching with the existing installation apparatus. It is a bottom view of the fall prevention system showing an example of an arrangement pattern of basic units. It is a bottom view of the fall prevention system which shows the arrangement pattern of the basic unit suitable when there is much traffic of a fixed direction like a corridor. It is a figure which shows an example of the mobile trolley of an electric field coupling system with a stair-climbing function corresponding to an apto type rail, FIG. 6 (a) is a top view of a mobile trolley, FIG.6 (b) is a bottom view of a mobile trolley, figure 6 (c) is a side view of the moving carriage, and FIG. 6 (d) is a front view of the moving carriage. FIGS. 7A and 7B are diagrams illustrating an example of a right-angle traveling type electric field coupling type mobile trolley, in which FIG. 7A is a top view of the mobile trolley, FIG. 7B is a bottom view of the mobile trolley, and FIG. FIG. 7D is a front view of the movable carriage. FIGS. 8A and 8B are diagrams showing an example of a right-angle traveling type magnetically coupled moving cart, FIG. 8A is a top view of the moving cart, FIG. 8B is a bottom view of the moving cart, and FIG. 8C is a moving cart. FIG. 8D is a front view of the movable carriage. FIGS. 9A and 9B are diagrams showing an example of a right-angle traveling type contact cart, FIG. 9A is a top view of the moving cart, FIG. 9B is a bottom view of the moving cart, and FIG. 9C is a diagram of the moving cart. A side view and FIG.9 (d) are front views of a mobile trolley | bogie. It is a figure which shows the electrode pattern in the basic unit of an electric field coupling system, Fig.10 (a) is a cross-sectional view of a fall prevention system, FIG.10 (b) is a longitudinal cross-sectional view of a fall prevention system. It is a figure which shows the current loop in the basic unit of a magnetic field coupling system, Fig.11 (a) is a cross-sectional view of a fall prevention system, FIG.11 (b) is a longitudinal cross-sectional view of a fall prevention system. It is a figure which shows the electrode pattern in the basic unit of a contact system, Fig.12 (a) is a cross-sectional view of a fall prevention system, FIG.12 (b) is sectional drawing of a fall prevention system. It is a cross-sectional view of a fall prevention system showing an electrode arrangement when four basic units of an electric field coupling method are combined. It is a cross-sectional view of a fall prevention system showing a current loop arrangement when four basic units of a magnetic field coupling method are combined. It is a cross-sectional view of a fall prevention system showing an electrode arrangement when four basic units of the contact method are combined. It is a figure which shows the positional relationship of the driving | running | working surface with a slit, and the wheel of a moving trolley | bogie, FIG.16 (a) is a cross-sectional view of a fall prevention system, FIG.16 (b) is a longitudinal cross-sectional view of a fall prevention system. It is a figure which shows the output characteristic for every junction capacity of a parallel resonance circuit, a horizontal axis shows a frequency and a vertical axis | shaft shows an output. It is a figure which shows the relationship between the transmission power of a parallel resonant circuit, and junction capacity, a horizontal axis shows junction capacity and a vertical axis | shaft shows transmission power. It is a figure which shows the switching circuit using magnetic MEMS, FIG. 19 (a) is a longitudinal cross-sectional view which shows the part corresponding to the power transmission electrode which consists of nonmagnetic materials, FIG.19 (b) is a power transmission electrode which consists of ferromagnetic materials It is a longitudinal cross-sectional view which shows a corresponding part. It is a circuit diagram of the switching circuit using magnetic MEMS. It is a circuit diagram of the switching circuit which controls MOSFET by magnetic MEMS. It is a block diagram which shows the electric power and communication system in a fall prevention system. It is a figure which shows the relationship between the antenna in a basic unit and a mobile trolley, Fig.23 (a) is a cross-sectional view of a fall prevention system, FIG.23 (b) is a longitudinal cross-sectional view of a fall prevention system. It is an image figure of the fall prevention system explaining various controls concerning the sitting operation in the dining room, FIG. 24A is a state when a care recipient is seated, and FIG. 24B is a state when moving the sliding chair forward. Indicates. It is a block diagram explaining the data exchange between the apparatuses which concern on the seating operation | movement in a dining room. It is a block diagram explaining the data exchange between the apparatus which concerns on movement operation | movement, and a server. It is an image figure of the fall prevention system which shows the example of charge to an apparatus. FIG. 28A is a front view of a worn lifting harness, FIG. 28A is a state where the pad is removed, FIG. 28B is a state where the pad is attached, FIG. 28C is a state where the fall prevention cable is loosened, FIG. 28 (d) shows the state pulled up by the fall prevention cable. It is an image figure of the fall prevention system which shows the example which made the four-wheel mobile trolley run on stairs. It is a bottom view of the eight-wheel moving carriage that turns sharply at the landing. It is a figure which shows population dynamics in Japan, a horizontal axis shows a fiscal year, and a vertical axis | shaft shows a population. It is an image figure which shows a mode that the elderly person wears the existing powered suit. It is an image figure which shows a mode that the elderly person wore the powered suit which can receive electric power of a non-contact system. It is an image figure of the fall prevention system in which independent action and fall prevention and wrinkle suppression are possible. It is an image figure of the fall prevention system which shows a mode that the elderly person assists the care which an elderly person performs first term. It is an image figure of the fall prevention system explaining the operation mode by a nurse or the like. It is an image figure of the fall prevention system explaining forced movement mode. It is an image figure of the fall prevention system which shows a mode that the male elderly person's excretion is assisted. It is an image figure of the fall prevention system which shows a mode that assists the excretion sitting on a western style toilet, FIG. 39 (a) shows the state which started the sitting operation | movement, FIG.39 (b) shows the state after sitting down. It is an image figure of the fall prevention system which shows a mode that bathing is assisted, Fig.40 (a) is the state which made the care recipient sit on a chair, FIG.40 (b) is the state which started raising of the care recipient, FIG. (C) shows the state after bathing a care recipient. It is an image figure of the fall prevention system which shows the mode of the power transmission with respect to a power assist apparatus.

  Hereinafter, embodiments of the present invention will be described in detail.

In recent years, the declining birthrate and aging population in Japan have progressed rapidly, making it difficult to provide nursing care for the elderly with the power of people in the working age group alone.
For this reason, it is expected that the elderly in the first half of the year (the first half of the elderly, those aged 65 to under 75) will become more powerful.
However, only those who have not suffered from dementia among the elderly in the first half can be the target of the fighting force, and the person with dementia may be on the care recipient side. Furthermore, even if borrowing the power of the elderly in the first half of the year, it is not possible to entrust power work, so a safe machine is introduced and the power is required. If there is no such machine power, the number of caregivers and nurses (persons in care positions) is small, so there is a large amount of work per person and the need for caregivers is non-human. I have to be.
Therefore, in order to support such elderly care, it is preferable to employ the fall prevention system 1 (see FIG. 1) to which the power transmission system 4 (see FIG. 1) of one embodiment of the present invention is applied.

FIG. 1 is a schematic diagram of a fall prevention system 1 to which a power transmission system 4 according to an embodiment of the present invention is applied.
A fall prevention system 1 shown in FIG. 1 is a system suitable for installation in, for example, a hospital or a general care facility, and is a system for the purpose of preventing fall of the care recipient 2.
Specifically, the fall prevention system 1 communicates with a lifting harness 3 (hereinafter abbreviated as “harness 3” as appropriate), a power transmission system 4, and a power transmission system 4 worn by a care recipient 2. A battery 5 as a power source of the device (not shown) and a fall prevention cable 9 are provided.

The harness 3 is connected to a fall prevention cable 9 suspended from the ceiling 6.
The harness 3 incorporates an acceleration sensor (not shown). The acceleration sensor detects, for example, a tilting motion of the care recipient 2 or suddenly acting gravity as an acceleration, and outputs a detection signal thereof. The detection signal output from the acceleration sensor is transmitted to the CPU 73 (see FIG. 22) built in the movable carriage 8.

  The power transmission system 4 includes a rail 7 fixed to the ceiling 6 and a moving carriage 8 that moves along the rail 7. A fall prevention cable 9 is suspended from the movable carriage 8. The harness 3 is attached to the fall prevention rope 9. That is, when the care recipient 2 walks, the movable carriage 8 moves so as to follow the care recipient 2. When the care recipient 2 tries to fall while walking, the fall of the care recipient 2 is prevented by the tension of the fall prevention cord 9.

  The rails 7 are laid so as to be arranged, for example, in a grid pattern (grid shape). By reducing the size of the grid, the care recipient 2 can move almost freely within the range where the rail 7 is laid. When the movable range of the movable carriage 8 is set, the care recipient 2 becomes an action within the range and can prevent wrinkles.

  The moving carriage 8 is provided with a camera 10 that images at least the lower side (the care recipient 2 wearing the harness 3 and its surroundings). The camera 10 captures an image of the care recipient 2 below as a subject and outputs a signal of the captured image. The signal of the captured image output by the camera 10 is transmitted to the image processing unit 79 (see FIG. 22) built in the movable carriage 8. The moving carriage 8 moves in accordance with the moving direction of the care recipient 2 based on the result of the image processing by the image processing unit 79. That is, the mobile carriage 8 does not guide the moving direction of the care recipient 2. Thereby, the independence of the care recipient 2 can be drawn out as much as possible. And it is possible to reduce the time and effort of care. Moreover, it is possible to prevent the care recipient 2 from falling or wandering.

  The fall prevention rope 9 is controlled in tension by a lift system 80 (see FIG. 22) built in the movable carriage 8. Specifically, when the body of the care recipient 2 tilts or feels a steep G, the fall prevention cord 9 can apply tension to the care recipient 2 so as not to fall. is there. On the other hand, when the care recipient 2 sits on a chair or a toilet seat, the fall-preventing cord 9 is reduced in tension and extends to a sufficient length. When the fall prevention cable 9 is removed from the harness 3, a warning signal is output, and a notification is made based on the warning signal, so that the care recipient 2 removes the fall prevention cable 9 without permission. Even so, the notification reaches a nurse station or the like, and a nurse or the like rushes to the care recipient 2. Further, the fall prevention cable 9 may function as a cable for performing power transmission and communication.

Hereinafter, a mechanism for realizing the fall prevention system 1 will be described.
FIG. 2 is a diagram showing the fall prevention system 1 attached to the ceiling. FIG. 2A is a longitudinal sectional view of the fall prevention system 1. FIG. 2B is a bottom view of the fall prevention system 1.
As shown in FIG. 2, when the fall prevention system 1 is installed, a hanger 15 is suspended from a floor slab (floor plate) 11 on an upper floor by an all-screw hanging bracket 12, a small beam 13, a large beam 14, and the like. A plurality of basic units 16 constituting the power transmission system 4 are arranged on the hanger 15.

The basic unit 16 has a rail 7.
The rail 7 is formed by connecting an H material made up of a pair of upper and lower flanges (not shown) and a web (flange) in a rectangular shape (for example, a square), and forms a pair of openings on the upper and lower sides. A tile or the like forming a ceiling is fitted in the lower opening, and the upper (hanger 15 side) opening is closed by the inspection hatch 17. That is, the inspection hatch 17 is a lid that is configured to be slightly larger than the opening formed in the upper portion of the rail 7 and closes the opening. The inspection hatch 17 is opened at the time of inspection.

When such a basic unit 16 is fixed to the hanger 15 in a grid pattern (lattice shape), a space in which the movable carriage 8 moves is formed by the peripheral portions of the adjacent rails 7.
That is, the basic unit 16 has a two-layer structure with such a rail 7, and the power transmission electrode 20 is attached to the upper surface (flange) of the periphery of the rail 7, and the bottom surface ( Flange) is the road.
Specifically, the bottom surface portion of the periphery of the rail 7 functions as a travel path on which the movable carriage 8 moves. The traveling paths of the adjacent basic units 16 (the bottom surface portion of the periphery of the rail 7) are not connected to each other and are spaced apart by a certain distance. That is, a slit 21 is formed on the bottom surface side of the adjacent basic unit 16, and for example, the fall prevention rope 9 is suspended from the slit 21.
On the other hand, the power transmission electrode 20 is attached to the upper surface (surface on the hanger 15 side) of the peripheral portion of the rail 7. That is, the power receiving electrode 18 is attached to the upper surface portion of the movable carriage 8, and the power transmission electrode 20 of the basic unit 16 where the movable carriage 8 exists and the power reception electrode 18 of the movable carriage 8 face each other, thereby coupling capacity. 19 is formed. Thereby, non-contact electric power supply which applied the electric field coupling electric power transmission technique with respect to the load etc. which were mounted in the mobile trolley 8 from the basic unit 16 side is attained.

The moving carriage 8 includes an omni wheel 22 that enables movement in the front-rear direction and the left-right direction at a lower portion thereof, and a power receiving electrode 18 at an upper portion thereof.
Since the movable carriage 8 includes the omni wheels 22, the carriage 8 can move indefinitely along the traveling path of the rails 7 arranged in a grid pattern.
As described above, the power receiving electrode 18 can be configured to form a coupling capacitor 19 together with the power transmitting electrode 20 of the basic unit 16 in which the power receiving electrode 18 is present, so that the power receiving electrode 18 can receive non-contact power supply to which the electric field coupled power transmission technology is applied.
In this way, the mobile carriage 8 is supplied with power from the basic unit 16 side to supply power to the load, and to prevent the vehicle from falling over to support or lift the weight of the care recipient 2 (see FIG. 1). The cord 9 is hung from the slit 21 and moved according to the walking of the care recipient 2.

  A communication unit including a power transmission inverter 43 (see FIG. 22), a low-speed communication device 69 (see FIG. 22), a high-speed communication device 70 (see FIG. 22), and the like is disposed at the center of the basic unit 16 surrounded by the rails 7. Etc. are arranged. The communication unit enables communication with the harness 3 worn by the care recipient 2 (see FIG. 1) in addition to communication for confirming the position of the mobile carriage 8.

Further, as shown in FIG. 3, various kinds of devices and the like can be arranged in the central portion of the basic unit 16 surrounded by the rails 7.
FIG. 3 is a longitudinal sectional view of the fall prevention system 1 showing an example of matching with the existing equipment 23.
As shown in FIG. 3, the basic unit 16 can be a unit having different functions depending on a device or the like arranged at the center thereof.
That is, as the existing equipment 23 of the building, there are a power line 24, a communication line 25, a cooling / heating pipe 26, an air conditioner 27, a lighting device 28, a camera 29, a sensor, a speaker, a wireless LAN device 29, and the like.
Therefore, as the basic unit 16, a sensor unit 16a in which devices 29 such as a camera, a sensor, a speaker, and a wireless LAN are arranged, an air conditioning unit 16b in which an air conditioner 27 is arranged, and an illumination unit 16c in which an illumination device 28 is arranged. Alternatively, a moving body maintenance unit 16d provided with inspection hatches 17 on the top, bottom, left and right as well as the top can be employed.
And these basic units 16 can be suitably connected with the electric power line 24, the communication line 25, the cold / hot piping 26 grade | etc.,.

FIG. 4 is a bottom view of the fall prevention system 1 showing an example of the arrangement pattern of the basic units 16.
As shown in FIG. 4, the basic unit 16 is arranged like a grid on the ceiling 6 (see FIG. 1), and the fall prevention cord 9 (see FIG. 2) is hung from the slit 21. Although the movable carriage 8 can move only along the slit 21, when the fall-preventing rope 9 is not tensioned, the care recipient 2 (see FIG. 1) is not aware of the position of the movable carriage 8, and the fall prevention system 1 can be used and can walk freely under the ceiling 6. In consideration of such free walking of the care recipient 2, the size of the basic unit 16 in the bottom view is preferably 50 cm or more and 1 m or less on one side. Each basic unit 16 is provided with a lighting device 28, an air conditioner 27, a device 29 such as a camera according to the location (see FIG. 3), and the other locations are decorated with wallpaper attached to the inspection hatch 17. Yes.

  FIG. 5 is a bottom view of the fall prevention system 1 showing a pattern suitable when there is a lot of traffic in a certain direction like a corridor. As shown in FIG. 5, slits 21 on which the movable carriage 8 (see FIG. 2) can stand by are also arranged on both sides. In hospitals where the fall prevention system 1 is introduced, depending on the hospital room, it is necessary to carry in oxygen cylinders and various devices. These devices are also fixed to the fall prevention rope 9 (see FIG. 2), so that the mobile cart 8 It is also possible to carry it by The positions corresponding to the slits 21 on both sides are assumed to be used as retreat places for these devices.

FIG. 6 is a diagram showing an example of the electric field coupling type mobile carriage 8 with a stair climbing function corresponding to the APT type rail 96a (see FIG. 29). FIG. 6A is a top view of the movable carriage 8. FIG. 6B is a bottom view of the movable carriage 8. FIG. 6C is a side view of the movable carriage 8. FIG. 6D is a front view of the movable carriage 8.
As shown in FIG. 6, the mobile carriage 8 has a power receiving unit 30 having a power receiving electrode 18 at the top. The power receiving unit 30 has a positioning mechanism (not shown) for making the power receiving electrode 18 softly contact or approach the power transmitting electrode 20 (see FIG. 2) of the basic unit 16. Furthermore, the power receiving unit 30 also functions to switch the wiring of the power receiving electrode 18 according to the polarity of the power transmitting electrode 20 (see FIG. 20). The wiring switching method uses magnetic MEMS (see FIG. 20) described later.

  For example, an omni wheel 22 is used as a traveling wheel of the movable carriage 8. At the intersection of the rails 7 in the basic unit 16 (see FIG. 2), a right-angle movement is required. Therefore, as a traveling wheel of the moving carriage 8, a multi-wheel system that turns using a corner curve dropping pin 31 is used. In addition to this, a caterpillar system that enables a super turn can be used as the traveling wheel of the mobile carriage 8. A traveling camera 33 that captures the traveling direction is attached to the front surface of the main body 32 of the movable carriage 8. The moving carriage 8 adjusts the rotation speed of the wheel (omni wheel 22) so as to proceed along the slit 21 (see FIG. 2) based on the image captured by the camera 33. In addition, you may attach the illuminating device used at the time of imaging to the main body 32 of the mobile trolley 8.

  At the bottom portion of the main body 32 of the movable carriage 8, a cable nozzle 34 through which the fall prevention cable 9 enters and exits is provided. In the main body 32 of the movable carriage 8, a reel part (not shown) for winding up / down the fall prevention cable 9 is housed. A camera 10 that captures an image of the person requiring care 2 (see FIG. 1) is further attached to the bottom of the main body 32 of the mobile carriage 8. The main body 32 of the movable carriage 8 includes a control device / communication device, a power receiving device, a storage battery, a traveling system drive device, etc. for controlling and communicating these omni wheel 22, camera 33, reel unit, camera 10, and the like (FIG. 22). Built-in). In the example of the movable carriage 8 shown in FIG. 6, a gear 36 is attached to the side of the omni wheel 22. The gear 36 corresponds to a stepped uphill rail 96a (see FIG. 29) described later. The reason why the omni wheel 22 is of a multi-wheel system is to get over the slit 21 on the running surface.

FIG. 7 is a view showing an example of a mobile carriage 8 of a right-angle traveling type and an electric field coupling method. FIG. 7A is a top view of the movable carriage 8. FIG. 7B is a bottom view of the movable carriage 8. FIG. 7C is a side view of the movable carriage 8. FIG. 7D is a front view of the movable carriage 8.
As shown in FIG. 7, the movable carriage 8 has two omni wheels 22 attached to each side surface of the main body 32. That is, the movable carriage 8 is provided with two omni wheels 22 on one pair of front and rear sides and two omni wheels 22 on one pair of left and right sides. The movable carriage 8 can travel in the left-right direction with an omni wheel 22 provided on a pair of front and back sides, and can run in the front-rear direction with an omni wheel 22 provided on a pair of left and right sides. Is possible. The movable carriage 8 can travel with the front, rear, left and right side surfaces as head surfaces, and a travel control camera 33 is attached to each side surface. The other configuration of the mobile carriage 8 shown in FIG. 7 is the same as that of the mobile carriage 8 shown in FIG.

FIG. 8 is a diagram showing an example of a right-angle traveling type magnetically coupled mobile cart 8. FIG. 8A is a top view of the movable carriage 8. FIG. 8B is a bottom view of the mobile carriage 8. FIG. 8C is a side view of the moving carriage 8. FIG. 8D is a front view of the movable carriage 8.
As shown in FIG. 8, the movable carriage 8 has a ferrite yoke 38 around which a power receiving coil 37 is wound attached to the top of the main body 32. The ferrite yoke 38 functions as a substitute for the power receiving unit 30 of the movable carriage 8 shown in FIG. 6 or FIG. The other configuration of the mobile carriage 8 shown in FIG. 8 is the same as that of the mobile carriage 8 shown in FIG. 6 or FIG.

FIG. 9 is a view showing an example of a right-angle traveling type contact cart 8. FIG. 9A is a top view of the movable carriage 8. FIG. 9B is a bottom view of the movable carriage 8. FIG. 9C is a side view of the movable carriage 8. FIG. 9D is a front view of the movable carriage 8.
As shown in FIG. 9, the mobile carriage 8 includes a power reception unit 39 at the zenith portion of the main body 32. The power reception unit 39 includes an air cushion 40 that is softly brought into contact with the counter electrode (the power transmission electrode 20 of the basic unit 16 (see FIG. 12)), and the power reception electrodes (contacts) provided on the upper surface of the air cushion 40 in four groups. Electrode) 41 and a magnetic MEMS 42 for determining the polarity of each group of the power receiving electrode 41. Each group of the power reception electrodes 41 is in contact with the counter electrode (the power transmission electrode 20 of the basic unit 16) by the air cushion 40. As the power transmission electrode 20, in order to prevent an increase in contact resistance due to rust or the like, a cleaning car (not shown) is periodically moved along the rail 7, the power transmission electrode 20 itself is made of stainless steel, or the power transmission electrode 20 is electrically conductive. Or a conductive DLC film. The other configuration of the mobile carriage 8 shown in FIG. 9 is the same as the mobile carriage 8 shown in FIGS.

  FIG. 10 is a diagram showing an electrode pattern in the electric field coupling type basic unit 16. FIG. 10A is a transverse cross-sectional view of the fall prevention system 1. FIG. 10B is a longitudinal sectional view of the fall prevention system 1.

  FIG. 11 is a diagram showing a current loop 44 in the magnetic coupling type basic unit 16. FIG. 11A is a cross-sectional view of the fall prevention system 1. FIG. 11B is a longitudinal sectional view of the fall prevention system 1.

  FIG. 12 is a diagram showing an electrode pattern in the contact-type basic unit 16. FIG. 12A is a cross-sectional view of the fall prevention system 1. FIG. 12B is a longitudinal sectional view of the fall prevention system 1.

FIG. 13 is a cross-sectional view of the fall prevention system 1 showing an electrode arrangement when the four basic units 16 of the electric field coupling method are combined.
As shown in FIG. 13, the polarity of the adjacent electrode 20 is reversed.

  FIG. 14 is a cross-sectional view of the overturn prevention system 1 showing a current loop arrangement when the four basic units 16 of the magnetic field coupling method are combined.

  FIG. 15 is a cross-sectional view of the fall prevention system 1 showing the electrode arrangement when the four basic units 16 of the contact method are combined.

  As shown in FIG. 10, the power transmission electrode 20 has an L shape and is provided at the four corners of the basic unit 16. Thereby, the power transmission electrode 20 is fixed to the lower surface of the outer flange on the rail 7 along the rail 7. The power transmission electrode 20 provided at one diagonal of the basic unit 16 is one of the positive electrode 20a and the negative electrode 20b, and the power transmission electrode 20 provided at the other diagonal of the basic unit 16 is the positive electrode 20a and The other of the negative electrodes 20b. In addition, the power transmission electrode 20 illustrated by grid-like hatching is a positive electrode 20a, and the power transmission electrode 20 illustrated by hatching by a broken line is a negative electrode 20b. The power transmission electrode 20 is provided on both sides along the slit 21, and the power transmission electrode 20 provided on one side of the slit 21 is one of the positive electrode 20 a and the negative electrode 20 b, and the other side of the slit 21. The power transmission electrode 20 provided on the side is the other of the positive electrode 20a and the negative electrode 20b (see FIG. 13). The moving carriage 8 is as shown in FIG. 7, and the power receiving electrode 18 of the moving carriage 8 is in contact with the power transmitting electrode 20 having a different polarity at any position and can receive power (see FIG. 13). Each power transmission electrode 20 is connected to an inverter 43 provided at the center of the basic unit 16. The inverter 43 receives power supply and distributes power to the power transmission electrodes 20.

  As shown in FIG. 11, the basic unit 16 is fitted in a ferrite plate 45 along the lower surface of the outer flange on the rail 7 and a groove (not shown) formed in the ferrite plate 45 as a power transmission unit, A current loop 44 or the like that circulates along the slit 21 (see FIG. 14) is provided. Of the inverters 43 of each basic unit 16, only the inverter 43 of the basic unit 16 (the basic unit 16 including the rail 7 on which the mobile carriage 8 travels) adjacent to the mobile carriage 8 is activated (see FIG. 14). . The mobile carriage 8 is as shown in FIG. 8, and when the mobile carriage 8 is located at the side of the basic unit 16, the inverters 43 of the two basic units 16 operate (see FIG. 14). When the movable carriage 8 is located at the corner portion of the basic unit 16, the inverters 43 of the four basic units 16 operate (see FIG. 14). For this reason, it is possible to supply electric power via the power receiving coil 37 of the moving carriage 8 wherever the moving carriage 8 is. The ferrite plate 45 is configured such that the magnetic resistance of the magnetic flux flowing through the power receiving coil 37 of the movable carriage 8 is small even at the side portion and the corner portion. Other configurations of the basic unit 16 shown in FIG. 11 are the same as those of the basic unit 16 shown in FIG.

  The power transmission electrode 20 shown in FIG. 12 is the same as that shown in FIG. The moving carriage 8 is as shown in FIG. 9, and the power receiving electrode 41 of the moving carriage 8 is in contact with the power transmitting electrode 20 having a different polarity at any position and can receive power (see FIG. 15). Each power transmission electrode 20 is supplied with power by a DC power supply 43 b provided at the center of the basic unit 16, and distributes power to each power transmission electrode 20. The DC power supply 43b constitutes a communication path. Other configurations of the basic unit 16 shown in FIG. 12 are the same as those of the basic unit 16 shown in FIGS.

FIG. 16 is a diagram showing a positional relationship between the traveling surface (the flange under the rail 7) having the slit 21 and the wheel (omni wheel 22) of the movable carriage 8. As shown in FIG. FIG. 16A is a cross-sectional view of the fall prevention system 1. FIG. 16B is a longitudinal sectional view of the fall prevention system 1.
In the case of the moving carriage 8 (see FIGS. 7 to 9) of the type having the omni wheel 22 on the four side surfaces of the main body 32, the direction can be easily changed. However, in order to get over the slit 21, it is necessary for the other omni wheel 22 to ride on the running surface (the flange under the rail 7) while one omni wheel 22 is floating. When the caterpillar is used in place of the multi-wheel omni wheel 22 in the multi-wheel mobile carriage 8 shown in FIG. 6, there is no problem over the slit 21. However, when a caterpillar is used, there is a problem that friction loss between the caterpillar and the running surface is large and a large amount of cutting powder is produced. In the case of the multi-wheel-type mobile carriage 8 shown in FIG. 6, the sharp curve cannot be cut easily, so the corner curve dropping pin 31 is used to cut the curve. Also in this case, since the omni wheel 22 is used, it is not necessary to apply an excessive force to each wheel.

FIG. 17 is a diagram illustrating output characteristics for each junction capacitance [F] of the parallel resonant circuit, where the horizontal axis indicates frequency [MHz] and the vertical axis indicates output [W].
FIG. 18 is a diagram illustrating the relationship between the transmission power [W] and the junction capacitance [F] of the parallel resonant circuit, where the horizontal axis indicates the junction capacitance [F] and the vertical axis indicates the transmission power [W].
As shown in FIGS. 13 and 15, the polarity of the power transmission electrode 20 is switched during the movement of the movable carriage 8 so that the power reception electrodes 18 and 41 are always in contact with two types of electrodes (positive electrode and negative electrode). We must be able to do it. Although it is conceivable to automatically convert the polarity using a diode, this diode system has a problem that the parallel resonant circuit cannot be used. That is, it does not suffer from the benefit of robustness by using a parallel resonant circuit. As shown in FIG. 17, when the junction capacitance is 5e-10 [F], even if the resonance peak is 10 MHz, if the junction capacitance is increased, the resonance circuit is affected and the resonance point is shifted to a low band. When the high frequency power supply frequency is fixed to 10 MHz and the initial junction capacitance is set to 2.9e-9 [F], the output can be made constant even if the junction capacitance is reduced to about 1 / 5.6. That is, it has robustness against changes in junction capacitance. When this result is plotted again with a wide frequency characteristic, the result shown in FIG. 18 is obtained.

FIG. 19 is a diagram showing a switching circuit 47 using the magnetic MEMS 46. FIG. 19A is a longitudinal sectional view showing a portion corresponding to the power transmission electrode 20a made of a non-magnetic material. FIG. 19B is a longitudinal sectional view showing a portion corresponding to the power transmission electrode 20b made of a ferromagnetic material.
The switching circuit 47 shown in FIG. 19 employs a magnetic MEMS system that switches the circuit according to the power transmission polarity without using a diode on the power receiving unit 30 side that is a power receiver. The magnetic MEMS switching circuit 47 uses a nonmagnetic material (or a diamagnetic material) and a ferromagnetic material for the power transmission electrodes 20a and 20b having different polarities. In this switching circuit 47, a cantilever 48 is hidden behind a power receiving electrode 18 made of a nonmagnetic material such as copper, and a gravity 49 a and a magnetic attractive force (magnetic force) 49 b of a permanent magnet 49 attached to the cantilever 48 are used. The cantilever 48 is moved to switch the switch.

Specifically, the switching circuit 47 includes the power transmitting electrodes 20a and 20b having different polarities, the power receiving electrode 18 facing the power transmitting electrodes 20a and 20b, the insulating film 50S serving as the base of the power transmitting electrodes 20a and 20b, and the power receiving electrode 18. An insulating film 50P as a base, a cantilever 48 provided on the surface opposite to the surface on which the power receiving electrode 18 is provided in the insulating film 50P, a through hole 51 for electrically connecting the power receiving electrode 18 and the cantilever 48, The permanent magnet 49 attached to the cantilever 48, the first electrode 52 disposed below the cantilever, and the second electrode disposed on the surface of the insulating film 50 where the cantilever 48 is provided and disposed above the cantilever 48. 53.
Further, the surfaces of the power transmitting electrodes 20a and 20b that face the power receiving electrode 18 constitute a slidable coating surface 54, which reduces friction generated by sliding of the power receiving electrode 18. The insulating film 50 is provided with a plurality of power receiving electrodes 18, a cantilever 48 connected thereto, a permanent magnet 49, a first electrode 52, and a second electrode 53, and the whole is lightly pressed against the power transmitting electrodes 20a and 20b. Has been. It is also possible to maintain the non-contact state by injecting air or the like into the pressure contact portion to form a space. Reference numeral 55 indicates a lifting force.

  As shown in FIG. 19A, when the power transmission electrode 20a is a nonmagnetic material such as aluminum or copper, a magnetic force is generated between the power transmission electrode 20a and the permanent magnet 49 (see reference numeral 49b in FIG. 19B). ) Does not occur, and gravity 49a due to the weight of the permanent magnet 49 is applied, and the cantilever 48 comes into contact with the first electrode 52 disposed below. Thereby, the electric power supplied from the power transmission electrode 20 a is guided in the order of the power reception electrode 18, the through hole 51, the cantilever 48, and the first electrode 52. On the other hand, as shown in FIG. 19B, if the power transmission electrode 20b is a ferromagnetic material such as iron, a magnetic attractive force 49b is generated between the power transmission electrode 20b and the permanent magnet 49. , Are brought into contact with the second electrode 53 disposed above. Thereby, the electric power supplied from the power transmission electrode 20 b is guided in the order of the power reception electrode 18, the through hole 51, the cantilever 48, and the second electrode 53.

  In addition, the fall prevention system 1 can also take the method (refer FIG. 10) which carries out contact power transmission, without using an electric field coupling. Even in this case, since there is a need to sequentially switch the polarity on the power receiving unit 39 (see FIG. 9) which is a power receiver, it is necessary to use a magnetic MEMS or a diode.

FIG. 20 is a circuit diagram of the switching circuit 47 using the magnetic MEMS 46.
As illustrated in FIG. 20, the switching circuit 47 includes a power transmission unit 56 and a power reception unit 30. The power transmission unit 56 includes power transmission electrodes 20 a and 20 b and an AC power source 57. The power transmission electrodes 20a and 20b made of a non-magnetic material are connected to an AC power source 57, respectively. The power receiving unit 30 includes a power receiving electrode 18 facing the power transmitting electrodes 20a and 20b, a magnetic MEMS 46 constituting a switch, and a first capacitor connected in parallel with the AC power source 57 via the power transmitting electrodes 20a and 20b and the power receiving electrode 18. 58 and the first coil 59, the second coil 60 constituting a transformer together with the first coil 59, a rectifier 62 composed of four diodes 61, and a smoothing connected in parallel to the second coil 60 via the rectifier 62. A capacitor 63 and a load 64. Thus, the switching circuit 47 can join the AC power source 57 to the parallel resonance circuit on the power receiving unit 30 side by using the magnetic MEMS 46. This makes it easier to improve robustness and transmission efficiency.

  In addition, although the magnetic MEMS 46 uses an electrical contact for the switch part (reference numeral omitted), it is assumed that an oxide film is generated in this part and capacitive coupling occurs. Therefore, by providing the power receiving unit 30 with the MOSFET 65 (see FIG. 21), even if the switch portion of the magnetic MEMS 46 is capacitively coupled, the DC voltage generated by the magnetic MEMS 46 is applied to the gate portion of the MOSFET 65 (reference number omitted). The switch can be operated by inserting it into. FIG. 21 is a circuit diagram of the switching circuit 47 that controls the MOSFET 65 with the magnetic MEMS 46. In the case of the method shown in FIG. 21, the switching circuit 47 uses the MOSFET 65 for the switch portion, and the output of the magnetic MEMS 46 is input to the gate portion (reference numeral omitted) of these MOSFETs 65. In this case, the battery 66 is required on the power receiving unit 30 side which is a power receiver, but high reliability is obtained. There is also a method in which the magnetic MEMS 46 itself is placed in a sealed container and filled with inert nitrogen or argon.

FIG. 22 is a block diagram showing power and a communication system in the fall prevention system 1.
As shown in FIG. 22, the basic unit 16 includes a CPU 67 that controls the basic unit 16 in an integrated manner, a HUB 68 connected to the communication line 25 that is a LAN line, a low-speed communication device 74 of the mobile carriage 8, and a 100 MHz band. Connected to the low-speed communication device 69 that performs low-speed communication, the high-speed communication device 75 of the mobile carriage 8, the high-speed communication device 70 that performs high-speed communication in the 1 to 10 GHz band, the microstrip antenna 71 used for high-speed communication, and the power line 24 that is DC wiring. Inverter 43, resonance circuit 72, power transmission electrodes 20a, 20b, and the like.

  On the other hand, the mobile cart 8 includes a CPU 73 that controls the mobile cart 8 in an integrated manner, a low-speed communication device 74 that performs low-speed communication with the low-speed communication device 69 of the basic unit 16 in the 100 MHz band, and high-speed communication devices 70 and 1 of the basic unit 16. High-speed communication device 75 that performs high-speed communication in a 10 GHz band, a plurality of patch antennas 76 that are used for high-speed communication, an antenna switch 77 that switches patch antennas 76 that are used for high-speed communication, a resonance circuit 78, and a rectifier that performs rectification and smoothing 62, a storage battery or supercapacitor that serves as a storage battery and supplies power to each part of the mobile carriage 8, a predetermined load 64 to which power is supplied, a camera 10 that images the care recipient 2 (see FIG. 1), and a traveling direction A camera 33 that captures images, an image processing unit 79 that performs image processing on images captured by the cameras 10 and 33, and a fall prevention cable 9 A lift system 80 for controlling comprises a driving system 81 for controlling the omni-wheel 22. In FIG. 22, illustration of wiring from the storage battery or the super capacitor to each part of the mobile carriage 8 is omitted.

  First, the low-speed communication device 74 of the mobile carriage 8 notifies the basic unit 16 of the existence of the mobile carriage 8 itself via a power transmission path of an electric field (which may be a magnetic field or a contact type). Thereafter, power transmission from the basic unit 16 is started, and a high-speed communication function by the high-speed communication device 70 is activated. Further, the inverters 43 of the two or four basic units 16 adjacent to the movable carriage 8 are operated, but the inverters 43 are activated in synchronization with the first signal. As for the high-speed communication device 70, the high-speed communication device 70 of two or four basic units 16 adjacent to the mobile carriage 8 is activated. If one is activated, high-speed communication with the mobile carriage 8 can be performed. After the communication is established, one high-speed communication device 70 is left and the other high-speed communication devices 70 are stopped.

FIG. 23 is a diagram showing the relationship between the antennas (microstrip antenna 71 and patch antenna 76) in the basic unit 16 and the mobile carriage 8. As shown in FIG. FIG. 23A is a cross-sectional view of the fall prevention system 1. FIG. 23B is a longitudinal sectional view of the fall prevention system 1.
As shown in FIG. 23, as a high-speed communication system, the microstrip antenna 71 is wound around the side surface of the flange (not shown) of the rail 7 in the basic unit 16, and each side surface (four surfaces) of the main body 32 in the mobile carriage 8 is provided. It is assumed that a patch antenna 76 is attached. The patch antenna 76 is selected and used by the antenna switcher 77 (the one closest to the microstrip antenna 71). Communication between the microstrip antenna 71 and the patch antenna 76 is performed by extremely weak radio. Note that the space in which the mobile carriage 8 travels is covered with metal except for the slits 21, so that even if it is performed with extremely weak radio, the radio is multiple-reflected within the space. In order to prevent this, a radio wave absorption film 82 can be attached to the top and bottom of the microstrip antenna 71 to absorb multiple reflected waves and improve the SN ratio of communication.

FIG. 24 is an image diagram of the fall prevention system 1 for explaining various controls related to the seating operation in the dining room. FIG. 24A shows a state when the care recipient 2 is seated. FIG. 24B shows a state when the sliding chair 83 is moved forward.
In FIG. 24, when there is a moving carriage 8 on the ceiling 6 and the care recipient 2 supports the weight with the fall-preventing rope 9 and comes to the cafeteria, he / she sits on the sliding chair (seat) 83 that has been determined in advance. The procedure to do is shown. The care recipient 2 is informed of the sliding chair 83 to be seated by the caregiver.

  As shown in FIG. 24, a sliding chair 83 is arranged together with a table 84 in the cafeteria that employs the fall prevention system 1. The sliding chair 83 automatically slides back and forth depending on the situation, and is controlled by the CPU 73 (see FIG. 22) of the moving carriage 8. When the care recipient 2 is seated on the sliding chair 83, the sliding chair 83 moves to open a gap with the table 84. The care recipient 2 tries to sit on the sliding chair 83, but cannot sit because of the fall prevention cord 9. However, when a weight is applied to the fall prevention cord 9 for a predetermined time (for example, 3 seconds), the CPU 73 (see FIG. 22) of the mobile carriage 8 recognizes that the care recipient 2 is trying to sit down, and the fall prevention cord 9 Loosen. Specifically, the lift system 80 is prevented from falling by a necessary length based on the height of the seating surface of the sliding chair 83 acquired by the camera 10 and the image processing unit 79 performing image processing. Loosen the cable 9. As a result, the care recipient 2 can sit on the sliding chair 83 (see FIG. 24A).

  After the care recipient 2 is seated, the CPU 73 (see FIG. 22) of the moving carriage 8 moves the sliding chair 83 forward (in the direction of the table 84) and further loosens the fall prevention cord 9. Thereby, the care recipient 2 can eat or the like (see FIG. 24B). The method of loosening the fall prevention cord 9 can be operated by the caregiver or the care recipient 2 by hand gestures. In order to realize this, the CPU 73 of the moving carriage 8 controls the lift system 80 and the like based on the result of image capturing by the camera 10 (see FIG. 22) and image processing by the image processing unit 79 (see FIG. 22). To do. Further, the fall prevention cable 9 can be operated by a remote controller, and a signal from the remote controller is input to the CPU 73 of the mobile carriage 8. For example, when the meal is finished, the care recipient 2 can instruct the CPU 73 of the moving carriage 8 to perform the leaving operation with a command shown on the surface of the table 84. This instruction may be performed by the caregiver, not the care recipient 2, or the command list may be hidden from the care recipient 2.

  In response to this instruction, the CPU 73 (see FIG. 22) of the moving carriage 8 loosens the fall prevention cable 9 and moves the sliding chair 83 to create a space between the table 84 and the table 84. Thereafter, the fall prevention cord 9 is pulled three times by the care recipient 2 or the like, so that the CPU 73 of the movable carriage 8 recognizes the lifting instruction, and the lift system 80 (see FIG. 22) reaches a length suitable for the standing posture. Lift up the fall prevention cord 9. Thereafter, the care recipient 2 moves out of the position of the sliding chair 83. The CPU 73 of the moving carriage 8 confirms that the care recipient 2 has been removed from the sliding chair 83 based on the result of the image captured by the camera 10 (see FIG. 22) and the image processing unit 79 (see FIG. 22). After confirming, the sliding chair 83 is moved forward (in the direction of the table 84) to make a large outside space.

FIG. 25 is a block diagram illustrating data exchange between devices related to the seating operation in the cafeteria.
The human interface with the CPU 73 of the mobile carriage 8 includes a plurality of methods such as a remote control, a gesture, a tension of the fall prevention cable 9 (see FIG. 24), a command on the table 84, and the degree of dementia of the care recipient 2 The most suitable thing can be adopted according to the etc. In addition, the code | symbol 80 shows lift systems, such as a fall prevention rope winder, and the code | symbol 81 shows a driving | running | working system (drive system).

FIG. 26 is a block diagram illustrating data exchange between a device and a server related to a moving operation.
The CPU 73 of the mobile carriage 8 is connected to and communicates with the traffic management server 85, the installation management server 86, and the nursing / nursing care server 87 via the communication line 25 that is a LAN line. The traffic management server 85 is installed in order to avoid collision between the mobile carts 8 and congestion due to the mobile cart 8. The installation management server 86 is installed in order to avoid a collision with the existing installation of the mobile carriage 8. The nursing / nursing care server 87 is installed in order to care and care for the care recipient 2 such as setting a movable range of the movable carriage 8 or returning the movable carriage 8 to the original position.

  In the care facility, there are many care recipients 2 (see FIG. 24), and each care recipient 2 is connected to each movable carriage 8 by a fall prevention rope 9. For this reason, it is necessary to prevent collision between the mobile carriages 8. Although the speed is not fast because it is a mobile cart 8 for nursing care, the traffic in the passage to the cafeteria tends to increase during meals and the like. For this reason, in order to prevent a collision between the mobile trolleys 8, a movement instruction is sequentially given to the CPU 73 of each mobile trolley 8 by the control system by the traffic management server 85. In this case, the CPU 73 of each mobile carriage 8 always transmits its position to the control system of the traffic management server 85, thereby enabling overall control. Furniture such as a chair (sliding chair 83 or the like) or a table (table 84 or the like) is installed in the care facility. The CPU 73 of the moving carriage 8 transmits its own position information to the installation management server 86 to notify the CPU 73 of the moving carriage 8 of the arrangement information of the installation such as furniture from the installation management server 86 sequentially. Is done. The CPU 73 of the mobile carriage 8 controls the traveling system (drive system) 81 based on the arrangement information transmitted from the installation management server 86 to avoid a collision with the installation. The position information of the mobile carriage 8 is sequentially transmitted from the CPU 73 of the mobile carriage 8 to the nursing / care lighting device 28 together with the ID information. The movable range of the mobile carriage 8 is limited by the nursing / nursing care server 87 to prevent wrinkles.

  A camera 33 attached to the front surface of the main body 32 (see FIG. 6) of the moving carriage 8 images the slit 21 along the rail 7. The CPU 73 of the moving carriage 8 adjusts the number of rotations of the left and right omni wheels 22 based on the imaging result of the camera 33 and moves the moving carriage 8 straight. Further, the camera 33 of the moving carriage 8 images the position mark written on the passage wall (web of the rail 7). The CPU 73 of the moving carriage 8 recognizes its own position based on the imaging result by the camera 33. In the camera 10 attached to the lower surface of the main body 32 of the moving carriage 8, the CPU 73 of the moving carriage 8 images at least the lower side based on the imaging result by the camera 10. The CPU 73 of the mobile carriage 8 recognizes the position of the care recipient 2 (see FIG. 24) based on the imaging result of the camera 10 and acquires the three-dimensional information around the care recipient 2. The CPU 73 of the moving carriage 8 advances the moving carriage 8 straight as it is when it is judged that it can get over even if there is a thin plate-like object (thing with a low height) in the traveling direction of the care recipient 2. When an object (a high object) that can hit the caregiver 2 is placed, the movable carriage 8 is moved so as to avoid it. As a result, it is possible to cope with a sudden change such as an object that is not registered in the installed object management server 86 being placed. Data such as position information of an object that can hit the care recipient 2 is sent to the installation management server 86 and registered. When the position of the care recipient 2 is shifted to the side, the CPU 73 of the moving cart 8 follows the care recipient 2 and drives the omni wheel 22 to move the moving cart 8. If it is determined that there is not enough, the lift system 80 is driven to lengthen the fall prevention rope 9. When the fall-preventing cord 9 is lengthened and cannot keep up with the movement of the care recipient 2, the CPU 73 of the moving carriage 8 can not follow the movement of the care recipient 2 with respect to the care recipient 2 or the caregiver by some means. Let them know.

  The mobile carriage 8 has, as basic characteristics, “movement function”, “control function”, “power receiving function”, “communication function”, “imaging function”, “report function (related server such as nurse station)”, “lift function” ”,“ User management function ”,“ Mode management function (caregiver independence support mode, caregiver cooperation mode, caregiver initiative mode) ”,“ Human interface (voice recognition / voice guidance, display input, gesture input) ” , “Operation support (independent excretion support, assistance bathing support, support for care recipients in bed)”, “history management function”, “stairs climbing function”, and the like.

  Future considerations related to the mobile trolley 8 include "rail-compatible smoke-proof hanging wall", "elevator / escalator-compatible", "cost", and the like. Examples of the "rail-compatible smoke-proof hanging wall" include "door opening and closing type" and "smoke hanging type". As for "Elevator / escalator support", it seems that it is quite difficult to enter the elevator. Therefore, when using an elevator or escalator, it is necessary to transfer the care recipient 2 (see Fig. 24) to the wheelchair. is there. “Cost” is estimated to be expensive. As a way to solve this problem, “simplification of equipment”, “standardization”, “lease for each version of standard equipment”, and “a clear patent fee reduction system enable improvement of development motivation and recovery of development investment. And so on.

  The fall prevention system 1 has the following characteristics of the entire system: “control function (traffic management, collision prevention)”, “device arrangement grasping (fixed body, moving body)”, “load concentration prevention, power management”, “ID management”, "Individual processing (request processing, abnormal status, limited range)", "Provision of information to nurse stations", "Maintenance system control", "Document / material transport management", "Consumables transport management (Oshime, linens, etc.) ”,“ Meal transportation management ”,“ Laundry collection management ”,“ Garbage collection ”,“ Powered suit support (charging, prevention of falling) ”,“ Charging furniture and accessories (see FIG. 27) ”,“ Planting management ” ”,“ Security camera system ”,“ air management (sensor functions such as temperature / humidity, fungus / mold monitoring, dust / cleaning degree management, etc.) ”,“ big data processing ”,“ visitor / visitor guidance / guidance support, Visiting guidance, nursing Evaluation of the pre-nursing care (to monitor whether the appropriate nursing and care is being carried out), "having" evacuation ", and the like. FIG. 27 is an image diagram of the fall prevention system 1 showing an example of charging the device. The sliding chair 83 has a power receiving surface 83 a that is supplied with electric power by connection of the non-contact charging coupler 88. The table 84 has a power receiving surface 84 a that is supplied with electric power by connection of the non-contact charging coupler 88. A contactless charging coupler 88 is attached to the tip of the fall prevention cord 9.

  As the communication system of the fall prevention system 1, "multiplex communication system (recovery system is necessary)", "wiring path (use LCX, spatial propagation, line propagation, etc.)", etc. are adopted.

FIG. 28 is a front view of the worn lifting harness 3. FIG. 28A shows a state where the pad 90 is removed. FIG. 28B shows a state where the pad 90 is attached. FIG. 28C shows a state where the fall prevention cord 9 is loosened. FIG. 28 (d) shows a state of being pulled up by the fall prevention cable 9.
As shown in FIG. 28, when the underwear is a lifting harness 3, the lifting harness 3 is a hanging trouser type with a crotch opening, and a hook-and-loop fastener (magic tape (registered trademark)) is provided around the crotch opening 3a. 89 is provided. It is also possible to provide a button (not shown) by providing a button (not shown) without providing the hook-and-loop fastener 89 around the hip (not shown) in the crotch opening 3a. Thereby, the pad 90 which can attach a different squeeze for men and women can be attached to the crotch opening 3a. The lifting harness 3 supports the weight of the care recipient 2 by distributing the weight on the thigh, buttocks, waist, chest, and lower side of the side. Or the lifting harness 3 can change the place supported mainly by a day (timing to use). Different types of lifting harnesses 3 (such as neck support and incontinence sensors) can be applied depending on the degree of dementia or the like. The fall prevention cable 9 is passed through the multi-connection pipe 91, and the suspended portion is a pulley-type hanging bracket 92. Thereby, the multi-connection pipe 91 becomes a rope shape which avoids the head of the care recipient 2 at the time of lifting (refer FIG.28 (d)). However, when the fall prevention cable 9 is loosened, the multi-connection pipe 91 is bent apart and bent (see FIG. 28C).

  Future considerations related to the fall prevention system 1 include “derived system”, “cost reduction measures”, “standardization and free competition”, and the like. Therefore, these considerations are mentioned below.

FIG. 29 is an image diagram of the overturning prevention system 1 showing an example in which a four-wheel mobile carriage 8 is run on stairs.
The example shown in FIG. 29 is a derived system in which the fall prevention system 1 is applied to a staircase having an inclination angle of 33.6 degrees in an existing reinforced concrete structure apartment house. The fall prevention system 1 includes a power feeding plate 94 that feeds power to the moving carriage 8, a leaky coaxial cable 95 that communicates with the moving carriage 8, and a traveling plate 96 on which the moving carriage 8 travels above the staircase ceiling housing 93. They are arranged in order. Only the inclined part of the travel plate 96 is an apt rail 96a. The Apt type rail 96a meshes with the gear 36 (see FIG. 6) of the movable carriage 8, thereby enabling the movable carriage 8 to be applied with a load 97 downward.

  By the way, with aging, people who live on the third floor or higher of an apartment house without an elevator need to go up and down stairs, making it difficult to live. Adding an elevator is very difficult to realize because the amount of investment is very large and the burden is large, and in the first place the approval of residents on the first and second floors is not obtained. Even if an elevator is to be attached, in the case of an apartment house built during the period of high economic growth, there are many houses that are not connected in the horizontal direction. Will end up with a lot of elevators. Also, depending on the structure of the building, even with an elevator, you can only get down to the landing, leaving a stairway between the landing and the entrance to your home. In such a case, a method of installing the fall prevention system 1 shown in FIG. 29 along the stairs is effective. It should be very cheap compared to installing an elevator.

FIG. 30 is a bottom view of the eight-wheel moving carriage 8 that turns sharply at a landing (not shown).
In this case, the omni wheel 22 is used for the tire, and four omni wheels 22 are attached to the left and right. In order to make a quick turn, a turning point 98 is provided outside the moving carriage 8, and the moving carriage 8 turns with a pin (not shown) hooked on the turning point 98. At this time, a force is applied to the omni wheel 22 in the direction indicated by the arrow, but an excessive force is not applied to each tire by moving the tire and the barrel of the omni wheel 22 corresponding to the force. However, it is necessary to change the rotation speed for each tire depending on the control system.

  In the fall prevention system 1 described so far, the mobile cart 8 is completely powered and intelligent, and the entire care system is systematized. It is thought that mechanization, automation, and systemization to that extent are necessary in order to save labor. On the other hand, when it is absolutely necessary to introduce an inexpensive one, a derivative system (simple system) shown in Table 1 can be employed. To the extent possible, the rail 7 (see FIG. 24) or the like is provided with compatibility that allows introduction of a host system. In particular, the third to sixth systems shown in Table 1 are meaningful in providing compatibility.

  In current hospitals, there are increasing opportunities to accept elderly people who require a high level of care, and there is a shortage of manpower. The reality is. In particular, at night, two nurses examine 30 to 40 care recipients 2, and it is said that "restraint is inevitable as a realistic measure". The content of restraint is properly used according to the severity. Specifically, (1) Fix the upper limbs or lower limbs (limbs) with safety belts, (2) Fix the body with safety belts, (3) Surround the bed with a fence, (4) Safe when riding a wheelchair Wearing a belt, (5) wearing mittens, (6) wearing a tie, (7) using a sputum prevention sensor, (8) injecting sleeping pills to reduce activity, etc. ing. However, restraining the body causes appetite and muscular strength to decline, and the degree of care required may become heavy. This is something that the caregiver is aware of, but the fact is that it is unavoidable.

FIG. 31 is a diagram showing population dynamics in Japan, where the horizontal axis indicates the year and the vertical axis indicates the population.
Specifically, Figure 31 shows the “Census Report”, “Population Estimate” of the Statistics Bureau of the Ministry of Internal Affairs and Communications, and “Japan's Future Population Estimate” (estimated in January 2012) of the National Social Security and Population Research Institute. Shows demographics based on estimates of medium birth (middle death). In the future, the number of workers will decrease significantly, and the ratio of early-aged elderly people (65 to 75 years old) and late elderly people (late elderly people, 75 years and older) to workers will increase significantly. Come. Even at this point (as of 2015), we are not able to take care of the elderly. For this reason, the care recipient 2 (see FIG. 24) must be restrained. In addition, it is not dementia among the elderly in the late stage, but the people whose bodies move must turn to caregivers. If it is not dementia, even if there is judgment power, there is no power and hard work cannot be done. For this reason, it is necessary to use some mechanical force. By using mechanical power, it is possible to care for the elderly at some stage. As a mechanical force, there is a method in which a caregiver or care recipient 2 (see FIGS. 32 and 33) wears the powered suit 99. However, since the powered suit 99 runs out of the battery 100 (see FIG. 32 and FIG. 33), the power suit 99 responds by supplying power from the floor.

FIG. 32 is an image diagram showing a state where the elderly person 101 is wearing the existing powered suit 99.
In the existing powered suit 99 shown in FIG. 32, the battery 100 runs out due to use, and thus a large-capacity battery 100 must be mounted in order to earn time until the battery 100 runs out. Since the battery 100 becomes large, it is difficult for the elderly person 101 wearing the powered suit 99 to move. Furthermore, even if the battery 100 is enlarged, the battery 100 runs out at some time due to use. Therefore, the caregiver does not have to worry about the battery 100 running out.

FIG. 33 is an image diagram showing a state where the elderly person 101 wears a powered suit 99 that is fed in a non-contact manner.
The powered suit 99 shown in FIG. 33 is supplied with power from the non-contact power supply floor 102 in the free position. For this reason, the battery 100 can have a small capacity. Further, by using this powered suit 99, the elderly person 101, who is a caregiver, can concentrate on care without worrying about running out of the battery 100. However, even if the elderly person 101, who is a caregiver, wears the powered suit 99, it is not realistic to wear it all day. The elderly person 101, who is a caregiver, wants to go to the toilet and needs to change his clothes if his clothes get dirty. When the care recipient 2 (see FIG. 24) is taken to the bathroom or placed in the bathroom, the elderly person 101, who is a caregiver, may get wet. This is because the powered suit 99 is a tool that takes time to detach. When I asked a group home caregiver who had worn the powered suit 99, “It ’s easier to lift the caregiver, but there ’s an artificial muscle in the arm, so you can touch the caregiver. It became difficult and I was quite tired of wearing it. It's easier if I don't have it. " For this reason, the fall prevention system 1 that suspends the care recipient 2 (see FIG. 24) from the ceiling 6 (see FIG. 24) and achieves both freedom of action and a fall prevention and wrinkle prevention function is effective.

FIG. 34 is an image diagram of the fall prevention system 1 capable of self-supporting behavior and fall prevention and wrinkle suppression.
The usage scene of this fall prevention system 1 shown in FIG. 34 is as follows. First of all, the first thing you want to think about is that you are treated unhumanly because of the personal limitations of the caregiver, even if you have dementia and are physically disabled. Is to solve. Moderate exercise is also practiced as rehabilitation and is widely acknowledged to be effective. On the other hand, restraining in the bed is only the opposite effect for improving the medical condition of the care recipient 2 (see FIG. 34). Furthermore, it gives mental pain to the care recipient 2. At present, restraint is unavoidably carried out to prevent the care recipient 2 from falling and leading to an accident.

  On the other hand, according to the fall prevention system 1, if the degree of dementia is light, it can be excreted and exercised mildly, fall can be prevented, and the burden on nurses and the like can be reduced. There is a moving carriage 8 on the ceiling 6, and the harness 3 attached in advance to the care recipient 2 is suspended from the moving carriage 8. During normal times, the fall prevention cord 9 is loosened and the degree of freedom of the care recipient 2 is not restricted. A camera 10 is attached to the moving carriage 8, and the moving carriage 8 follows the movement of the care recipient 2 based on the imaging result of the camera 10. When the movable carriage 8 cannot follow the movement of the care recipient 2, the fall prevention cord 9 is stretched to suppress the action of the care recipient 2. As for the case where the moving carriage 8 cannot keep up with the movement of the care recipient 2, there is no rail 7 of the moving carriage 8 in the direction in which the care recipient 2 moves, the movement speed of the care recipient 2 is high, and other movements. When the collision with the carriage 8 is avoided, there is a case where the care recipient 2 avoids a collision with a wheelchair or the like. The purpose of the care recipient 2 to get up and move from the bed is excretion, bathing, eating, talking, etc., but the purpose of going (destination) is often determined. In such a case, the movable carriage 8 can lead after setting the destination. A speaker (not shown) attached to the harness 3 may provide guidance such as “turn the corner to the right”.

FIG. 35 is an image diagram of the fall prevention system 1 showing a state of assisting the care performed by the elderly person 101 in the first half year.
As shown in FIG. 35, the fall prevention system 1 is effective in assisting the care provided by the elderly person 101 in the first half year. If there is no sudden fall, it is possible for the elderly person 101 in the first half of the year to follow the toilet.

FIG. 36 is an image diagram of the fall prevention system 1 for explaining an operation mode by the nurse 103 or the like.
In the fall prevention system 1 shown in FIG. 36, when the degree of dementia progresses and the care recipient 2 is jealous, the mobile carriage 8 informs the nurse center of the position, and the nurse 103 etc. picks up. . In this case, the nurse 103 or the like operates the movable carriage 8 with the control remote controller 104 to return the care recipient 2 to the original place.

FIG. 37 is an image diagram of the fall prevention system 1 for explaining the forced movement mode.
As shown in FIG. 37, the fall prevention system 1 can also lift and move the care recipient 2 completely. The harness 3 needs to be changed in accordance with the degree of symptoms of the care recipient 2. When the care recipient 2 is forcibly lifted, the care recipient 2 may slip out of the harness 3 unless the harness 3 has a belt up to the crotch. In this case, the harness 3 having the belt up to the crotch is used. Depending on the level of care, the care recipient 2 may always be lifted with a certain percentage of force. For this reason, the fall prevention system 1 can always lift the care recipient 2 with a constant force. For example, there are some care recipients 2 who can act without inconvenience if they are always lifted with a force to lift 1/5 of the weight of the care recipient 2 and do not need to bother the hands of the nurse 103 or the like. For this reason, such an operation mode is also effective in a rehabilitation facility.

FIG. 38 is an image diagram of the fall prevention system 1 showing a state of assisting the excretion of the male elderly person 105.
In the fall prevention system 1 shown in FIG. 38, excretion care for elderly males is performed. If the legs and hips become unsteady, it becomes difficult to use the toilet with the standing toilet 106. In such a case, the fall prevention system 1 lifts the male elderly person 105 with some force of the weight of the male elderly person 105. Thereby, the male elderly person 105 can use the stool stably. Furthermore, the fall prevention system 1 can also be provided with a function of reducing the leakage of pee out of the standing toilet 106 by tilting the movable carriage 8 slightly forward.

FIG. 39 is an image diagram of the fall prevention system 1 showing a state of assisting the excretion while sitting on the Western-style toilet 107. FIG. FIG. 39A shows a state in which the sitting operation is started. FIG. 39B shows a state after sitting.
In the fall prevention system 1 shown in FIG. 39, by slightly lifting the body of the care recipient 2, the clothes can be easily lowered and the urine can be exchanged. Thereafter, the fall prevention system 1 moves the movable carriage 8 to move the care recipient 2 onto the Western-style toilet 107 and lowers the fall prevention cord 9 to seat the care recipient 2. After the stool ends, the fall prevention system 1 performs a flow opposite to the flow in which the care recipient 2 is seated. With such a function, it is possible for elderly people in the first half of the year to support nursing care.

FIG. 40 is an image diagram of the fall prevention system 1 showing a state of assisting bathing. FIG. 40A shows a state where the care recipient 2 is seated on the chair 108. FIG. 40B shows a state in which lifting of the care recipient 2 is started. FIG. 40C shows a state after the care recipient 2 has taken a bath.
First, in the fall prevention system 1 shown in FIG. 40A, the care recipient 2 is seated on a chair 108 to which a net 109 is attached in advance. Then, as shown in FIG. 40 (b), the fall prevention system 1 falls the chair 108 sideways and lifts the care recipient 2 with the net 109 connected to the fall prevention rope 9. Moreover, as shown in FIG.40 (c), the fall prevention system 1 moves the care trolley 2 on the bathtub tub 110 by moving the mobile trolley | bogie 8. As shown in FIG. Further, the fall prevention system 1 lowers the fall prevention cord 9 to slowly lower the care recipient 2 and bathe. The net 109 is removed from the fall-preventing rope 9 and bundled beside the bathtub 110. The net 109 can be used as an object that supports the care recipient 2 in the bathtub 110. The bathing of the care recipient 2 requires 2 to 3 caregivers to hold the care recipient 2, and is particularly careful, but with this fall prevention system 1, even one nurse 103 etc. Can respond.

FIG. 41 is an image diagram of the fall prevention system 1 showing a state of power transmission to the power assist device 111.
It is assumed that the power assist device 111 and the robot shown in FIG. 41 will grow up as a regular tool for nursing care. These devices should not be de-energized. In particular, when the control system related to the fall prevention is stopped, the possibility that the care recipient 2 falls and is injured increases. For this reason, a power outage must never occur. However, as long as the battery 5 is used, there is no danger. For this reason, in the fall prevention system 1, connecting the fall prevention cable 9 extending from the movable carriage 8 to the power assist device 111 and receiving power supply via the fall prevention cable 9 is one countermeasure.

  As described above, according to the present embodiment, elderly people can be easily cared for the elderly, and systemization of hospitals and general care facilities is possible.

  Existing care devices have been developed for transfer from a bed to a wheelchair, transfer from a wheelchair to a toilet or bath, walking support, and the like. These developments are individual and discontinuous. With such devices alone, it is not possible to solve the extremely large problem that the working population that will be faced in the future will be reduced and the care recipient will not be taken care of. In order to solve the problem drastically, we will standardize a system with high versatility and usability that can reduce the burden of nursing care by utilizing the remaining capacity while using the ceiling space to prevent the care recipient from falling. It can be done by systematizing.

From a business point of view, even if there is a huge demand, service is limited in situations where individual devices are handled in detail, individual devices are not standardized, and products are manufactured by various manufacturers. And the scale remains small.
On the other hand, by standardizing and disseminating a system with high versatility and availability, production costs can be reduced and an advanced system can be provided. As a result, it is possible to wipe out the problems of nursing care and reincarnate into a huge market.

  As standardization progresses, the development stops, so strict version control is performed on the applied products. Assign a version number to the result of technological development at a certain level to guarantee systematization within the same version.

  The care system is basically provided by lease, and the older version is provided at a lower cost. The latest version will be offered at a high price. As a result, the introduction of the latest technology and the popularization (old version) at a low cost are compatible.

  For each version, a standard is established, an interoperability test etc. is established, and it is obliged to put an authentication sticker that describes the version.

  Introducing information technology to perform big data processing and grasping the appropriate situation with artificial intelligence, it will truly improve the work efficiency of caregivers and overcome the problems of nursing care in the age of declining birthrate and aging.

Although various embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and modifications, improvements, and the like within a scope that can achieve the object of the present invention are included in the present invention. is there.
In other words, the power transmission system to which the present invention is applied only needs to have the following configuration, and can take various various embodiments including the above-described embodiments.

That is, the power transmission system to which the present invention is applied (for example, the power transmission system 4 in FIG. 2)
A first surface (for example, in FIG. 2) on which one power transmission electrode (for example, the power transmission electrode 20 in FIG. 2) of the electrode pair forming the coupling capacity (for example, the coupling capacity 19 in FIG. 2) in the electric field coupling power transmission technology is disposed. A plurality of units (for example, the basic unit 16 in FIG. 2) having a second surface (for example, the bottom surface in FIG. 2) that is disposed apart from the first surface;
A moving body (for example, a fall-preventing rope 9 in FIG. 2) having a receiving electrode (for example, the receiving electrode 18 in FIG. 2) of the other pair of electrodes that form a coupling capacity in the electric field coupling power transmission technique and the like. A mobile carriage 8) of FIG.
A power transmission system comprising:
Among the plurality of units, by combining the peripheral portions of the first surface and the second surface of two adjacent units, at least one of the plurality of power transmission electrodes and the power reception electrode A space for moving the moving body in a state where the coupling capacitance is formed is formed as a movement path,
Among the plurality of units, the second surfaces between the adjacent units are separated from each other, thereby forming a slit (for example, a slit 21 in FIG. 2) for projecting the projection from the movement path. And
The mobile body is a power transmission system having a switch (for example, a magnetic MEMS 46 in FIG. 20) that switches the polarity of the power receiving electrode in accordance with the polarity of the power transmitting electrode constituting the electrode pair.

  In this way, it is possible to realize a power transmission system in which the electric field coupling power transmission technology is applied to a moving body having a movement range of an arbitrary area having an arbitrary shape.

Here, a plurality of the power transmission electrodes are arranged along the movement path in the first surface,
Each of the plurality of power transmission electrodes is inverted in polarity with other adjacent power transmission electrodes,
Can be.

Each of the plurality of units has a rectangular shape when viewed from the bottom, and is arranged in a lattice shape when viewed from the bottom.
Each of the plurality of power transmission electrodes has an L-shape and can be arranged to be insulated from the unit body at the four corners of the unit.

Each of the plurality of units is
A high-frequency power supply (for example, the inverter 43 in FIG. 22) for supplying power to the power transmission electrode
A drive control unit (for example, the CPU 67 in FIG. 22) that executes control for driving the high-frequency power supply when at least a part of the moving body is present;
Can be provided.

Each of the plurality of units and the mobile body further includes a communication unit (for example, the low-speed communication devices 69 and 74 and the high-speed communication devices 70 and 75 in FIG. 22) that communicate with each other.
The drive control unit recognizes the position of the moving body based on communication by the communication unit, and executes control to drive the high-frequency power source based on the recognition result.
Can be.

1 Fall prevention system 2 Care recipient 3 Harness (lifting harness)
3a Crotch opening 4 Power transmission system 5 Battery 6 Ceiling 7 Rail 8 Moving carriage (moving body)
9 Fall prevention cable (line)
10 Cameras 11 Floor slab (floor board)
12 All screw suspension fittings 13 Small beam 14 Large beam 15 Hanger 16 Basic unit (unit)
16a Sensor unit 16b Air conditioning unit 16c Illumination unit 16d Mobile carriage maintenance unit 17 Inspection hatch 18 Power receiving electrode 19 Coupling capacitor 20 Power transmission electrode 20a Power transmission electrode, positive electrode 20b Power transmission electrode, negative electrode 21 Slit 22 Omniwheel 23 Existing equipment 24 Power line 25 Communication line 26 Cold pipe 27 Air conditioner 28 Lighting device 29 Camera 30 Power receiving unit 31 Corner curve drop pin 32 Main body 33 Camera 34 Nozzle 36 Gear 37 Power receiving coil 38 Ferrite yoke 39 Power receiving unit 40 Air cushion 41 Power receiving electrode 42 Magnetic MEMS
43 Inverter (high frequency power supply)
43b DC power supply 44 Current loop 45 Ferrite plate 46 Magnetic MEMS
47 Switching circuit 48 Cantilever 49 Permanent magnet 49a Gravity 49b Magnetic attraction (magnetic force)
DESCRIPTION OF SYMBOLS 50 Insulating film 51 Through-hole 52 1st electrode 53 2nd electrode 54 Sliding coating surface 55 Lifting force 56 Power transmission part 57 AC power supply 58 1st capacitor 59 1st coil 60 2nd coil 61 Diode 62 Rectifier 63 Smoothing capacitor 64 Load 65 MOSFET
66 battery 67 CPU
68 HUB
69 Low-speed communication device 70 High-speed communication device 71 Microstrip antenna 72 Resonant circuit 73 CPU
74 Low-speed communication device 75 High-speed communication device 76 Patch antenna 77 Antenna switch 78 Resonant circuit 79 Image processing unit 80 Lift system (fall-prevention rope winder)
81 Traveling system (drive system)
82 Electromagnetic wave absorption film 83 Sliding chair 83a Power receiving surface 84 Table 84a Power receiving surface 85 Traffic management server 86 Installation management server 87 Nursing / care server 88 Non-contact charging coupler 89 Surface fastener (magic tape (registered trademark))
90 Pad 91 Multi-connected pipe 92 Pulley-type hanging bracket 93 Staircase ceiling housing 94 Power supply plate 95 Leakage coaxial cable 96 Traveling plate 96a Apt rail 97 Load 98 Turning point 99 Powered suit 100 Battery 101 Early elderly (early elderly, care Who)
102 Non-contact power supply floor 103 Nurse 104 Control remote control 105 Male elderly person 106 Standing toilet 107 Western toilet 108 Chair 109 Net 110 Bath 111 Power assist equipment

Claims (5)

A plurality of first surfaces on which one power transmission electrode is disposed in an electrode pair forming a coupling capacitance in the electric field coupled power transmission technology, and a second surface disposed apart from the first surface. Unit of
A movable body having a receiving electrode on the other side of the electrode pair forming a coupling capacity in the electric field coupled power transmission technology, and a protrusion;
A power transmission system comprising:
Among the plurality of units, by combining the peripheral portions of the first surface and the second surface of two adjacent units, at least one of the plurality of power transmission electrodes and the power reception electrode A space for moving the moving body in a state where the coupling capacitance is formed is formed as a movement path,
Among the plurality of units, the second surfaces between the adjacent units are separated from each other, so that a slit for projecting the projection from the movement path is formed,
The said mobile body has a switch which switches the polarity of the said receiving electrode according to the polarity of the said power transmission electrode which comprises the said electrode pair. A plurality of the power transmission electrodes are arranged along the movement path in the first surface,
Each of the plurality of power transmission electrodes is inverted in polarity with other adjacent power transmission electrodes,
The power transmission system according to claim 1. Each of the plurality of units has a rectangular shape when viewed from the bottom, and is arranged in a lattice shape when viewed from the bottom.
3. The power transmission system according to claim 2, wherein each of the plurality of power transmission electrodes has an L shape and is arranged to be insulated from a unit body portion at four corners of the unit. Each of the plurality of units is
A high frequency power supply for supplying power to the power transmission electrode;
A drive control unit that executes control to drive the high-frequency power source when at least a part of the moving body is present;
The power transmission system according to any one of claims 1 to 3. Each of the plurality of units and the mobile body further includes a communication unit that communicates with each other.
The drive control unit recognizes the position of the moving body based on communication by the communication unit, and executes control to drive the high-frequency power source based on the recognition result.
The power transmission system according to claim 4.