JP2002205808A - Safety device for moving shelf - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a safety device for a moving shelf capable of rapidly forming a requested work passage while securing the sufficient safety of a worker in the work passage by accurately detecting the presence of the worker in the work passage. SOLUTION: In/out sensors IP0-IP3 detect the passing of the worker through the entrance of each work passage selectively formed among a plurality of shelves 11-14, and human body sensors PD0-PD3 detect the presence of the workers in each work passage selectively formed among a plurality of shelves 11-14. On the basis of the detected result of the in/out sensors IP0-IP3 and human body sensors PD0-PD3, the presence of the worker in the formed work passage, and the interlock with the work passage is automatically controlled.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mobile shelf apparatus for controlling the movement of a plurality of shelves so as to optionally form a work passage between the respective shelves, and in particular to improve the safety thereof. The present invention relates to a safety device for a movable moving shelf.

[0002]

2. Description of the Related Art As is well known, in a storage system for storing a large number of articles, files and the like on a shelf, in order to improve the space efficiency, a movable shelf device as shown in the title is often used. I have.

[0003] In general, such a moving shelf apparatus is configured such that a work passage corresponding to a work surface of a target shelf is formed by manually driving each of the shelves. However, when the shelves are large or the number of shelves is large, it is difficult to move them manually.

For this reason, conventionally, a self-propelled mechanism is provided on each shelf, and a desired work passage is automatically formed by operating a passage selection switch corresponding to the work passage to be formed. As described above, various types of moving shelves that move each shelf have been developed.

[0005] That is, this type of moving shelf device has a motor and a passage selection switch installed on each of a plurality of shelves set to be movable along a specified rail, and a passage provided on an arbitrary shelf. By operating the selection switch, each shelf is moved by the motor so that a work passage corresponding to the shelf is formed.

[0006] After a work passage corresponding to the shelf is formed, an interlock is automatically applied so that the work passage is held. This interlock state is maintained until the operator operates a reset switch installed on the shelf when the worker leaves the work passage, for example.

However, in such a configuration in which the interlock is released by operating the reset switch, even if a worker is in the work passage, the reset switch is easily operated by another worker. Since the interlock is released, a problem of lack of sufficient security occurs.

[0008] For this reason, in recent years, in order to address the above problem and further improve the safety of the mobile shelf device,
For example, Japanese Patent Publication No. 57-13289 and Japanese Patent Laid-Open No. 5-1
Safety measures, such as those disclosed in Japanese Patent No. 70302, have been developed.

That is, in the former, two reflection type photoelectric switches are respectively provided at the entrance and exit of each passage, and when a person or an object enters the passage, the outside reflection type photoelectric switch is operated and then the inside reflection switch is operated. When the type photoelectric switch is operated, the shelf is locked so that it does not operate, and when a person or an object exits out of the passage, the inner reflective type photoelectric switch operates and then the outer reflective type photoelectric switch operates. The device for unlocking the shelf is a movable shelf.

[0010] However, when one person enters the passage, the lock can be released when the person exits, and safety can be improved. However, when a plurality of persons are in the passage, one of them is used. When the vehicle exits, the shelves are unlocked even when there is still a person in the aisle, and the configuration lacks safety.

In the latter, an infrared sensor is installed in a passage to detect the presence or absence of a worker in the passage by detecting infrared rays emitted from a human body. When it becomes
The interlock is released.

However, first, since the infrared sensor generally detects a change in infrared light due to the movement of a human body, it can detect the presence or absence of the worker when the worker is stationary in the passage. However, it is determined that there is no worker in the passage, and the inconvenience that the interlock is released easily occurs.

When the detection area of the infrared sensor leaks out of the work passage corresponding to the shelf, a person passing outside the work passage is detected as being present in the passage, and the interface is detected. Since the lock is applied, the movement of the shelf is often stopped during the formation of the passage, and a problem arises in that the intended work passage cannot be quickly formed.

[0014]

SUMMARY OF THE INVENTION Accordingly, the present invention has been made in view of the above circumstances, and accurately detects the presence or absence of a worker in a work passage without error, and provides sufficient safety to the worker. It is an object of the present invention to provide a very good movable shelves safety device which can secure a desired work passage and can quickly form a desired work passage.

[0015]

SUMMARY OF THE INVENTION A movable shelf safety device according to the present invention includes a plurality of shelves which are set so as to be movable along specified rails and each have a self-propelled mechanism. The present invention is directed to a mobile shelf apparatus that selectively forms a work passage between arbitrary shelves by controlling the movement of each shelf.

A first detecting means for detecting that the worker has passed through an entrance of each work passage selectively formed between the plurality of shelves, and a selective detecting means between the plurality of shelves. Second detecting means for detecting the presence of a worker in each working passage formed in the work passage, and a worker in the working passage formed based on the detection results of the first and second detecting means. Control means for judging the presence / absence of the work path and automatically controlling the interlock for the work passage.

According to the above configuration, the detection result of detecting the passage of the worker to the entrance of the work passage and the detection result of detecting the presence of the worker in the work passage are combined. The presence or absence of a worker in the work passage is determined and the interlock is automatically controlled, so the presence or absence of a worker in the work passage can be accurately detected without error, and sufficient safety for the worker is ensured. Can be ensured.

[0018]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a first embodiment of the present invention will be described in detail with reference to the drawings. First, FIG.
1 shows the overall configuration of the mobile shelf device described in the first embodiment. That is, this mobile shelf device is an example in which three mobile shelves 12, 13, and 14 are installed with respect to a fixed shelf 11 set at the left end for convenience.

The movable shelves 12 to 14 are configured to be moved by wheels 16, 17 and 18 on a common rail 15 respectively. In this case, each moving shelf 12-
14 are equipped with motors M1, M2 and M3 for driving the wheels 16 to 18 to rotate, and the moving shelves 12 to 14 move right or left in accordance with the rotation direction of the motors M1 to M3. Will be run.

The fixed shelf 11 and the movable shelves 12
To 14 are path selection switches PB0, PB1, for instructing the formation of a work path for each work surface.
PB2 and PB3 are installed. The fixed shelves 11 and the movable shelves 12 to 14 have illuminating lamps F for illuminating each work passage formed on each work surface.
L0, FL1, FL2, and FL3 are provided.

The movable shelf 12 has a human body sensor PD0 for detecting whether or not a human exists in a work passage formed between the fixed shelf 11 and the movable shelf 12.
And a human body sensor PD1 for detecting whether or not a human is present in a work passage formed between the movable shelf 12 and the movable shelf 13.

Further, the moving shelf 13 includes a moving shelf 13
Body detection sensor PD for detecting whether or not a human is present in a work passage formed between
2 is installed, and the movable shelf 14 is provided in a work passage formed between the movable shelf 14 and the wall 19 facing the movable shelf 14.
A human body detection sensor PD3 for detecting whether or not a human is present is provided.

These human body detecting sensors PD0 to PD3
Detects the presence or absence of a person in a certain space by detecting a change in infrared rays due to the movement of a human body, which will be described in detail later.

The moving shelves 12 to 14 and the moving shelves 1
The light-emitting devices OP0, OP0,
OP1, OP2, and OP3 are provided. The fixed shelves 11 and the movable shelves 12 to 14 receive irradiation light from the light emitters OP0 to OP3, respectively, and thereby detect input / output sensors IP0, IP1, IP1 and IP1 for entering and exiting the work passage. IP2 and IP3 are installed.

Further, the fixed shelf 11 and the movable shelves 12
14 to 14 are operated in a state of being close to the adjacent moving shelves 12 to 14 or in a state of being in contact with the stop mechanism 20 installed on the wall portion 19, respectively. And limit switches LS0, LS1, LS2, LS3 for preventing pressure contact with the stop mechanism 20.

The fixed shelf 11 and the movable shelves 12 to
14 is a safety bar switch SB operated by a safety stop bar (not shown) installed on each work surface.
0, SB1, SB2, and SB3 are provided. These safety bar switches SB0 to SB3 function to prevent movement of the movable shelf forming a work passage including at least the operated safety stop bar.

Here, the fixed shelf 11 receives an instruction from a management computer (not shown), which will be described later, and receives an RCU (Rack Control Unit) for comprehensively controlling the operation of all mobile shelves 12 to 14 including itself. ) 21 are provided. Each of the moving shelves 12 to 14 has an RCU, respectively.
Shelf control boards 22, 23, and 24 for controlling own operation based on the control of 21 are provided.

The fixed shelf 11 is provided with a main power switch CS and an indicator lamp LP for confirming that the main power switch CS is turned on.

FIG. 2 shows a state where the moving shelf apparatus is viewed from above. In other words, the fixed shelf 11 is composed of six shelves 11a to 11f having the movable shelf 12 as a work surface. The movable shelf 12 includes six shelves 12a to 12f having the fixed shelf 11 as a work surface and a movable shelf 13
It is composed of six shelves 12g to 12l whose sides are work surfaces.

Further, the moving shelf 13 includes six shelves 13a to 13f having a working surface on the moving shelf 12 side and a moving shelf 1
It is composed of six shelves 13g to 131 having four working surfaces. The moving shelf 14 includes six shelves 14 a to 14 f having a working surface on the moving shelf 13 side and a wall 19.
And six shelves 14g to 14l each having a side as a work surface.

Here, the fixed shelf 11 and the movable shelves 12
14 are one of the shelves 11a, 12a, 12g, 1
The sides 3a, 13g, 14a and 14g face the main passage 25 formed along the moving direction of the moving shelves 12 to 14 indicated by arrows A and B in the figure. Access to and exit from any of the work passages is performed through the main passage 25.

Next, the fixed shelf 1 is attached to the movable shelf 12.
The boundary between the first row of shelves 12a, 12c and 12d, 12
f, the aforementioned human body detection sensors PD0a, PD0b, P
D0c are provided respectively. In addition, the movable shelf 12 has a shelf unit 12g on the movable shelf 13 side, a boundary portion between 12i and 12j, and 12l, a human body sensor PD1 described above.
a, PD1b, PD1c are provided respectively.

Further, the movable shelf 13 has a shelf section 13g on the movable shelf 14 side, a boundary portion between 13i and 13j, 1
3l, the above-mentioned human body detection sensors PD2a, PD2b,
PD2c is installed, respectively. The movable shelf 14 is provided with shelf chains 14g, 14i and 14 on the wall 19 side.
j, the above-mentioned human body sensor P
D3a, PD3b, and PD3c are provided respectively.

FIG. 3 shows a human body sensor PD0a, PD0b, PD0b on the work surface of the movable shelf 12 on the fixed shelf 11 side.
Light emitting device OP0 for PD0c and input / output sensor IP0
Is shown.

The light emitting device OP0 enters / exits the work surface of the movable shelf 12 on the movable shelf 13 side, the work surface of the movable shelf 13 on the movable shelf 14 side, and the work surface of the movable shelf 14 on the wall 19 side. Only the sensors IP1, IP2, and IP3 are provided. Regarding the arrangement of the human body sensors PD1, PD2, and PD3,
Since the working surface of the movable shelf 12 is the same as the work surface on the fixed shelf 11 side, the description thereof is omitted.

That is, the human body detection sensor PD0a is installed near the ceiling on the main passage 25 side of the shelf chain 12a.
The human body sensor PD0a is connected to the shelf link 11 of the work passage formed by the fixed shelf 11 and the movable shelf 12.
The detection area is set so that a range sandwiched between the a and 11b and the shelf series 12a and 12b is set as the detection area.

The detection area of the human body sensor PD0a is set vertically along the entrance and exit of the work passage so as not to leak outside the work passage, that is, to the main passage 25 side.

The human body sensor PD0b is connected to the shelf
It is installed near the ceiling at the boundary between 2c and 12d. The human body sensor PD0b is connected to the fixed shelf 1
1 and the moving shelf 12 form a work passage,
The range sandwiched between 1b to 11e and the shelf series 12b to 12e is set to be the detection area.

Further, the human body detecting sensor PD0c is installed near the ceiling on the back side of the main passage 25 of the shelf series 12f. Then, the human body sensor PD0c is set so that a range sandwiched between the shelves 11e, 11f and the shelves 12e, 12f in the work passage formed by the fixed shelf 11 and the movable shelf 12 is set as a detection area. Have been.

Note that the detection area of the human body sensor PD0c does not leak outside the work passage, so that the
It is set vertically along the part on the back side with respect to the main passage 25 of 2f.

In short, two human body sensors PD0
a, a range sandwiched between the five shelf runs 11a to 11e and the shelf runs 12a to 12e by PD0b is defined as a detection area;
A range sandwiched by the five shelf chains 11b to 11f and the shelf racks 12b to 12f by the two human body sensing sensors PD0b and PD0c is a detection area. In other words, when the number of shelves on the movable shelf increases, it is sufficient to appropriately install a human body sensor so that the entire passage is covered as a detection area along the work passage.

The light emitting device OP0 is installed on the main passage 25 side of the shelf chain 12a, that is, near the entrance of the work passage, and near the center of the height of the shelf chain 12a. Then, the light emitted from the light emitting device OP0 is transmitted to the input / output sensor IP installed at the corresponding position on the fixed shelf 11.
0, the fixed shelf 11 and the movable shelf 12
It is detected that the worker has passed through the entrance of the work passage formed between them.

FIG. 4 shows the configuration of the human body sensor PD0a installed in the shelf row 12a located at the end of the movable shelf 12. Note that the other human body detection sensors PD0b, PD0
About c, since it is a structure similar to the human body detection sensor PD0a, the description is abbreviate | omitted.

That is, the human body sensor PD0a
A human body detection sensor 27 for detecting an infrared change due to the movement of a human body is provided in a storage box 26 that houses various circuit components and circuit boards (not shown) and forms a main body of the human body detection sensor PD0a. And a detection indicator lamp 2 which lights up when a human body is detected.
9, a power lamp 30 that is turned on when the power is turned on and the human body detection sensor 27 is in a driving state, and a mounting hole 31.
and a metal fitting 31 having a.

The human body sensor PD0a is
A screw (not shown) is inserted into the mounting hole 31a of the metal fitting 31, and the main passage 25 facing the work passage of the shelf chain 12a is inserted.
It is attached by fastening it to the part near the side ceiling.

Here, the human body sensor PD0a is
As described above, the detection area is limited by covering a part of the human body detection sensor 27 with the sensor cover 28. Thereby, as described above, the detection area is
It can be set vertically along the entrance and exit of the work passage so as not to leak outside the work passage, that is, to the main passage 25 side.

The human body detection sensor PD0a capable of limiting the detection area in this manner can easily change the detection area only by replacing the sensor cover 28 as shown in FIG.

FIG. 6 shows the details of the control system of the above-mentioned moving shelf device. That is, reference numeral 32 in the figure is the management computer described above. This management computer 32
Is installed in, for example, a dedicated room provided separately from the installation location of the above-mentioned moving shelf device, and has a database for all articles and files stored in the moving shelf device, and manages the taking in and out of the database. ing.

The management computer 32 is communicably connected to the RCU 21 installed on the fixed shelf 11. The RCU 21 includes, for example, a microprocessor or the like, and based on a command from the management computer 32, the fixed shelf 11 itself and each of the movable shelves 12-1.
4 is totally controlled.

In this case, power is supplied to the RCU 21 while the main power switch CS is turned on and the display lamp LP is turned on, and the operation is started. The RCU 21 operates information such as a passage selection switch PB0, a safety bar switch SB0, and a limit switch LS0 provided on the fixed shelf 11, and an input / output sensor IP0.
, And outputs a lighting drive signal for lighting the illumination lamp FL0.

The RCU 21 is connected to the bus line 33
Is connected to the shelf control boards 22 to 24 provided in the movable shelves 12 to 14 to control the respective shelf control boards 22 to 24.

In this case, for example, the shelf control board 22 of the movable shelf 12 includes a passage selection switch PB1, a safety bar switch S
B1 and operation information of the limit switch LS1, etc.
The detection information of the output sensor IP1 and the human body detection sensors PD0, PD1, etc. is input, and the light emitter OP0, the illumination lamp F
The drive signal for driving L1 and the motor M1 is output.

The other shelf control boards 23 and 24 have the same movable shelf 1 in substantially the same manner as the shelf control board 22.
3 and 14 are controlled. Furthermore, the shelf control board 24
The drive signal for driving the light emitting device OP3 installed on the wall 19 is also output.

The characteristic operation of the mobile shelf apparatus having the above configuration will be described below with reference to the flowchart shown in FIG. FIG. 7 illustrates a characteristic operation of the first embodiment, taking a working path formed between the fixed shelf 11 and the movable shelf 12 as an example.

That is, the operation starts in a state where a work passage is formed between the fixed shelf 11 and the movable shelf 12 (step S).
11) Then, in step S12, the RCU 21 determines whether the input / output sensor IP0 is in the detection state. Then, when it is determined that the detection state is not established (NO), the RCU 21 determines whether or not the human body sensor PD0 is in the detection state in step S13, and when it is determined that the detection is not in the detection state (NO). ), And the process is terminated (step S28).

If it is determined in step S13 that the human body sensor PD0 is in the detection state (YE
S), the RCU 21 determines in step S14 that an operator is present in the work passage, and in step S15, interlocks the work passage, and in step S16
Then, the interlock state is displayed on a display unit (not shown) installed on the fixed shelf 11 or the movable shelf 12, and the process is terminated (step S28).

Further, when it is determined in step S12 that the input / output sensor IP0 is in the detection state (YE
S), in step S17, the RCU 21 waits until the input / output sensor IP0 enters the non-detection state,
When it is determined that 0 is in the non-detection state (YES), a built-in timer (not shown) is driven in step S18, and after waiting for a predetermined time T1, in step S19, whether the human body sensor PD0 is in the detection state. It is determined whether or not.

When it is determined that the human body sensor PD0 is in the detection state (YES), the RCU 21
In step S20, it is determined that an operator is present in the work passage, and in step S21, the work passage is interlocked. In step S22, the display unit indicates that the work passage is in the interlock state, The process is ended (step S28).

If it is determined in step S19 that the human body sensor PD0 is not in the detection state (NO), the RCU 21 determines in step S23 whether the human body sensor PD0 is in the detection state. If it is determined that the state has been detected (YES), step S
The process moves to step 20.

On the other hand, if it is determined in step S23 that the human body sensor PD0 is not in the detection state (NO), the RCU 21 drives the built-in timer in step S24 and a predetermined time T2 has elapsed. If it is determined that the time has not elapsed (NO), the process returns to step S23.

In step S24, a predetermined time T
2 is determined to have elapsed (YES), the RCU 21
Determines in step S25 that there is no worker in the work passage, releases the interlock of the work passage in step S26, turns off the display unit in step S27, and terminates (step S25). S28) is performed.

FIG. 8 shows the presence / absence of a worker in the passage and the presence / absence of the worker in the passage determined by the RCU 21 from the detection / non-detection state of the input / output sensor IP0 and the human body detection sensor PD0 based on the above-described operation. The possibility of opening and closing is described.

That is, when the input / output sensor IP0 is once in the detection state and then inverted to the non-detection state, after a lapse of a predetermined time T1 from the inversion point, the human body sensor PD0 is detected.
Is in the detection state, the RCU 21 determines that an operator is present in the passage and applies an interlock. At the time when the human body sensor PD0 is in the detection state, the opening / closing operation for the work passage is disabled.

Further, once the interlock is applied, even if the worker stops and the human body sensor PD0 is in the non-detection state, the interlock is not released and is continued.

In the interlock state, the input / output sensor IP0 is once in the detection state and then inverted to the non-detection state, and the human body detection sensor PD0 is in the non-detection state when a predetermined time T1 has elapsed since the inversion. If so, RCU2
1 waits for the elapse of a predetermined time T2, determines that no worker is present in the passage, releases the interlock, and enables the opening and closing operation of the work passage.

If the human body sensor PD0 is in the detection state before the predetermined time T2 elapses, the RCU 21
Means that there is no worker in the passage and the interlock is not released or the interlock is applied.

FIG. 9 shows a state in which the working passage is closed.
It is a flowchart explaining operation | movement when the human body detection sensor PD0 is in the detection state. That is, when started (step S29), the RCU 21 proceeds to step S30.
Then, it is determined whether or not the work passage is being closed, and if it is determined that the work passage is being closed (YES), step S3 is performed.
At 1, it is determined whether or not the human body sensor PD0 is in the detection state.

When it is determined that the human body sensor PD0 is in the detection state (YES), the RCU 21
In step S32, the closing operation of the work passage is stopped,
The process is ended (step S33).

According to the above-described first embodiment, the detection output of the input / output sensor IP0 for detecting the entry / exit of the worker to / from the work passage, and the human body detection for detecting the presence / absence of the worker in the work passage. By combining the detection output of the sensor PD0, the presence or absence of an operator in the work passage is determined.

For this reason, the presence or absence of a worker in the work passage can be accurately detected without error. For example, when the worker stops in the passage, the human body sensor PD0 can be detected.
Even if is not detected, the interlock is not released and sufficient safety for the worker can be ensured.

Since the human body sensor PD0 is provided with the sensor cover 28, its detection area is restricted so as not to leak out of the work passage, that is, to the main passage 25. Erroneous detection of a person who is passing through the passage as an operator in the passage and undesirably stopping the movement of the movable shelves 12 to 14 makes it possible to quickly form a target work passage. It can be.

In FIG. 2, one of the fixed shelves 11 and one of the shelves 11a, 12a, 12g, 13
Although it has been described that only the sides a, 13g, 14a, and 14g face the main passage 25, the present invention is not limited to this, and the other shelves 11f, 12f, 1 of the fixed shelf 11 and the movable shelves 12 to 14 are not limited thereto.
It is also possible to form a main passage on the 2f, 13f, 13f, 14f, 14f side so that the work passage can be entered and exited from both sides of the fixed shelf 11 and the movable shelves 12-14.

In the case of such a configuration, the fixed shelf 11
Between the shelf chain 11f of the moving shelf 12 and the shelf chain 12f of the moving shelf 12;
A passage between the shelf series 12l of the movable shelf 12 and a shelf series 13f of the movable shelf 13, a path between the shelf series 13l of the movable shelf 13 and a shelf series 14f of the movable shelf 14, and a shelf series 14l of the movable shelf 14. Wall 1
9 at each of the entrances and exits of the passage between the light emitters OP0 to OP0.
It is necessary to install the OP3 and the input / output sensors IP0 to IP3.

In FIG. 6, the management computer 32 is provided as a control system of the mobile shelf device. However, the mobile computer can be independently controlled by the RCU 21 without providing the management computer 32. It is also possible to use.

Next, a second embodiment of the present invention will be described. That is, in FIG. 10, the light emitting device OP0 installed on the movable shelf 12 includes two light emitting units OP0a and O0a.
P0b is provided. These light emitting units OP0a, OP0b
Are arranged side by side at predetermined intervals along the direction in which the above-described row of shelves 12a to 12f are arranged.

The input / output sensor IP0 installed on the fixed shelf 11 has two sensor units IP0a and IP0b. The sensor units IP0a and IP0b are respectively arranged at positions where the light emitted from the light emitting units OP0a and OP0b are received, and detect the entry and exit of a person to and from a work passage formed between the fixed shelf 11 and the movable shelf 12. It has the function to do.

Here, the worker WM in the main passage 25
Consider a case where the vehicle enters the work passage as shown by arrow C in FIG. In this case, as shown in FIG. 11, the sensor units IP0a and IP0b are both in the non-detection state, the sensor unit IP0a is in the detection state first, and then the sensor unit IP0a and IP0b are in the detection state.
P0b enters the detection state. Then, each sensor unit IP0
After both a and IP0b are in the detection state, the sensor unit IP
0a and IP0b are in the non-detection state in this order.

That is, each sensor unit IP0a, IP0b
Are in a detection or non-detection state with a timing relationship as shown in FIG.
Can determine that the worker WM has entered the work passage. At this time, +1 can be counted by a counter (not shown) built in the RCU 21.

On the other hand, in FIG. 10, it is assumed that the worker WM who is in the working passage exits to the main passage as shown by the arrow D. In this case, as shown in FIG. 12, from the non-detection state of each of the sensor units IP0a and IP0b, the sensor unit IP0b is first in the detection state, and then the sensor unit IP0a is in the detection state. Then, each sensor unit IP0
After both a and IP0b are in the detection state, the sensor unit IP
0b and IP0a are not detected in this order.

That is, each sensor unit IP0a, IP0b
Are in the detection or non-detection state with the timing relationship shown in FIG.
Can determine that the worker WM has exited the main passage 25 from within the work passage. At this time, -1 can be counted by a counter (not shown) built in the RCU 21.

Assume that the worker WM in the main passage 25 enters the work passage as shown by the arrow E and stops as shown in FIG. Such a situation,
For example, an operator in the main passage 25 looks into the open work passage, or puts only one half of the body in the work passage to talk with a worker in the work passage. This is a common occurrence.

In such a case, as shown in FIG. 14, from the non-detection state of each of the sensor units IP0a and IP0b, the sensor unit IP0a first enters the detection state, and then the sensor unit IP0b enters the detection state. Then, after both the sensor units IP0a and IP0b are in the detection state, the sensor units IP0b and IP0a are in the non-detection state in this order.

That is, each sensor unit IP0a, IP0b
Are in the detection or non-detection state with the timing relationship shown in FIG.
Can be determined that the worker WM has entered the work passage and stopped.

Conversely, in FIG. 13, consider the case where the worker WM who is in the work passage retreats to the main passage 25 and stops as shown by the arrow F. Such a situation also occurs, for example, when a worker in the work passage looks into the main passage 25 or puts his / her half body in the main passage to talk with a worker in the main passage. This often occurs.

In such a case, as shown in FIG. 15, from the non-detection state of each of the sensor units IP0a and IP0b, the sensor unit IP0b first enters the detection state, and then the sensor unit IP0a enters the detection state. Then, after both the sensor units IP0a and IP0b are in the detection state, the sensor units IP0a and IP0b are in the non-detection state in this order.

That is, each sensor unit IP0a, IP0b
Are in the detection or non-detection state with the timing relationship shown in FIG.
Can be determined that the worker WM has exited the work passage and stopped.

As described above, since the input / output sensor IP0 has the structure including the two sensor units IP0a and IP0b, the RCU 21 can determine whether the worker WM enters the work passage or not. It is possible to clearly discriminate between the case where the vehicle exits from the inside, the case where the vehicle enters the work passage and stops, and the case where the vehicle exits the work passage and stops.

For this reason, the case where the worker WM enters and stops in the work passage or the case where the worker WM exits and stops from within the work passage is eliminated, and the worker WM moves into the work passage. It is possible to accurately determine the case where the vehicle enters and the case where the vehicle exits the inside of the work passage, and to control the interlock of the work passage.

FIG. 16 and FIG. 17 are flowcharts summarizing the interlock control operation when the worker WM leaves the work passage. First, a work passage formed between the fixed shelf 11 and the movable shelf 12 is interlocked, and each sensor unit IP0a,
IP0b is started in a non-detection state (step S34).

Then, the RCU 21 proceeds to step S35
Then, it is determined whether or not the sensor unit IP0a is in the non-detection state. If it is determined that the sensor unit IP0a is not in the non-detection state (detection state) (NO), the process waits until the sensor unit IP0a enters the non-detection state, and determines that it has entered the non-detection state. If yes (YES), in step S36,
It is determined whether or not the sensor unit IP0b is in the detection state.

If it is determined that the sensor unit IP0b is not in the detection state (non-detection state) (NO), the RCU2
1 is returned to the process of step S35, and the sensor unit IP0
If it is determined that b is in the detection state (YES), it is determined in step S37 whether or not the sensor unit IP0a is in the detection state.

Here, when it is determined that the sensor unit IP0a is in the non-detection state (NO), the RCU 21 waits until the detection unit enters the detection state, and when it is determined that the sensor unit IP0a is in the detection state (YES). In step S38, it is determined whether or not the sensor unit IP0b has entered the non-detection state.

If it is determined that the sensor unit IP0b is in the detection state (NO), the RCU 21 waits until the sensor unit IP0b is in the non-detection state, and if it is determined that the sensor unit IP0b is in the non-detection state (YES). , In step S39,
It is determined whether or not the sensor unit IP0a has entered the non-detection state.

Here, when it is determined that the sensor unit IP0a is in the detection state (NO), the RCU 21 determines that it has exited and stopped, and ends this control operation (step S).
45).

If it is determined that the sensor unit IP0a is in the non-detection state (YES), the RCU 21 drives a built-in timer (not shown) in step S40 and waits for a predetermined time T1, and then in step S41, the human body It is determined whether or not the sensing sensor PD0 has entered the detection state.

When it is determined that the human body sensor PD0 is in the detection state (YES), the RCU 21 determines in step S42 that the worker WM is present in the work passage, and in step S43, determines that the work WM is present. An interlock is applied to the use passage, and in step S44, the fact that the vehicle is in the interlock state is displayed on the display unit, and the process is terminated (step S45).

If it is determined in step S41 that the human body sensor PD0 is not in the detection state (NO), the RCU 21 determines in step S46 whether the human body sensor PD0 is in the detection state. If it is determined that the state has been detected (YES), step S
Processing shifts to step 42.

On the other hand, if it is determined in step S46 that the human body sensor PD0 is not in the detection state (NO), the RCU 21 drives the built-in timer in step S47 and a predetermined time T2 has elapsed. If it is determined that the time has not elapsed (NO), the process returns to step S46.

In step S47, a predetermined time T
2 is determined to have elapsed (YES), the RCU 21
Determines in step S48 that there is no worker in the work passage, releases the interlock of the work passage, turns off the interlock display in step S49, and ends (step S45). .

FIG. 18 shows a state in which the RCU 21 determines from the detection and non-detection states of the sensor units IP0a, IP0b and the human body sensor PD0 based on the interlock control operation at the time of exit from the work passage. The presence or absence of an operator and the possibility of opening and closing the passage are described.

That is, as described with reference to FIG. 12, when the sensor units IP0b and IP0a sequentially change from the non-detection state to the detection state, and then sequentially change from the detection state to the non-detection state, the RCU 21 causes the worker WM to perform work. Judge that you have exited the passage.

If the human body sensor PD0 is in the non-detection state after a lapse of a predetermined time T1 from the point in time when the sensor unit IP0a is inverted to the non-detection state, the RCU 21
Waiting for the elapse of the predetermined time T2, the worker W enters the work passage.
It is determined that M does not exist, the interlock is released, and the opening / closing operation for the work passage is enabled.

According to the second embodiment described above, based on the detection outputs of the two sensor units IP0a and IP0b,
It is possible to accurately determine that the worker WM has exited the work passage without being confused when the worker WM enters the work passage and stops there, or when the worker WM exits the work passage and stops. It is possible to more accurately detect the presence or absence of the worker WM in the work passage by combining with the detection output of the human body sensor PD0,
Safety for the worker WM can be sufficiently ensured.

Here, in the second embodiment, it is possible to accurately determine that the worker WM has entered the work passage and has exited the work passage. If a built-in counter (not shown) counts +1 when entering and -1 when leaving, the number of workers entering and exiting the work passage can be managed.

FIG. 19 and FIG. 20 correspond to FIG. 16 and FIG.
7 is a flowchart in which the interlock control operation when the worker WM leaves the inside of the work passage shown in FIG. 7 is summarized in consideration of the count value of the number of entering and leaving of a plurality of workers.

That is, in FIGS. 19 and 20, the same steps as those in FIGS. 16 and 17 are denoted by the same reference numerals, and only the different steps will be described.
If it is determined in step 9 that the sensor unit IP0a is in the non-detection state (YES), that is, if the withdrawal of the worker WM from the inside of the work passage is detected, the RCU 21 determines in step S50 that the count value is 0. Is determined.

When it is determined that the count value is 0 (YES), the RCU 21 proceeds to step S40.
Is transferred to the process. If it is determined that the count value is not 0 (NO), the RCU 21 proceeds to step S51.
Then, after waiting for a predetermined time T3 longer than the predetermined time T1, the process proceeds to the process of step S41.

FIG. 21 shows the detection and non-detection states of the sensor units IP0a and IP0b and the human body sensor PD0 when the count value is not 0 based on the interlock control operation when exiting from the work passage described above. RCU21
Describes the presence / absence of an operator in the passage and the possibility of opening / closing the passage.

As described with reference to FIG. 12, when the sensor units IP0b and IP0a sequentially change from the non-detection state to the detection state, and subsequently change from the detection state to the non-detection state, R
The CU 21 determines that the worker WM has left the work passage.

Then, from the time when the sensor unit IP0a is inverted to the non-detection state, a predetermined time T longer than the predetermined time T1 is reached.
If the human body sensor PD0 is in the non-detection state after the elapse of 3, the RCU 21 waits for the elapse of the predetermined time T2, determines that the worker WM is not present in the work passage, and releases the interlock. In addition, the opening and closing operation of the work passage is enabled.

That is, based on each detection output of the two sensor units IP0b and IP0a as described above, the worker W
In the means for judging entry and exit from the work passage of M, one person may be erroneously judged as plural persons or plural persons as one person, and the count value cannot be trusted unconditionally. Can be used as an auxiliary condition for releasing the interlock.

Therefore, the two sensor units IP0b, IP0b
If the count value is not 0 when the worker WM exits the work passage based on each detection output of 0a, the process waits for a time T3 longer than the normal time T1. If the human body detection sensor PD0 does not enter the detection state, the interlock is released after the elapse of the time T2, and further safety measures are taken.

The present invention is not limited to the above-described embodiments, but can be implemented with various modifications without departing from the spirit and scope of the invention.

[0114]

As described in detail above, according to the present invention,
An extremely good moving shelf that can accurately detect the presence or absence of a worker in a work passage without error, ensure sufficient safety for the worker, and quickly form a desired work passage. A safety device can be provided.

[Brief description of the drawings]

FIG. 1 is a side view showing a first embodiment of a movable shelf safety device according to the present invention and illustrating the entire configuration of the movable shelf device.

FIG. 2 is a top view for explaining the overall configuration of the mobile shelf device including the main passage according to the first embodiment.

FIG. 3 is an exemplary front view shown for explaining the arrangement of the human body sensor on the work surface of the movable shelf in the first embodiment;

FIG. 4 is a perspective view showing a detailed configuration of the human body sensor according to the first embodiment.

FIG. 5 is a perspective view for explaining an example in which the detection region of the human body sensor is changed in the first embodiment.

FIG. 6 is a block diagram showing a control system of the mobile shelf device according to the first embodiment;

FIG. 7 is a flowchart for explaining a characteristic operation of the mobile shelf device according to the first embodiment;

FIG. 8 is a diagram illustrating a presence or absence of an operator in a passage and a determination of whether or not to open or close the passage based on a detection result of a sensor according to the first embodiment.

FIG. 9 is a flowchart illustrating an operation when the sensor enters a detection state in a state where the work passage is closed according to the first embodiment.

FIG. 10 is a view showing a second embodiment of the movable shelf safety device according to the present invention, which is shown for explaining details of a light emitter and an input / output sensor.

FIG. 11 is a diagram illustrating a detection result of each sensor when an operator enters a work passage according to the second embodiment;

FIG. 12 is a diagram illustrating a detection result of each sensor when the worker leaves the work passage in the second embodiment.

FIG. 13 is a diagram illustrating an operation of entering and stopping an operator's passage and an operation of exiting and stopping from a passage according to the second embodiment;

FIG. 14 is a diagram illustrating a detection result of each sensor when the vehicle enters and stops at a passage of an operator according to the second embodiment.

FIG. 15 is a diagram illustrating a detection result of each sensor when the worker exits the passage and stops in the second embodiment.

FIG. 16 is a flowchart illustrating the first half of the interlock control operation when the worker exits the inside of the work passage according to the second embodiment.

FIG. 17 is a flowchart illustrating the latter half of the interlock control operation when the worker exits the inside of the work passage according to the second embodiment.

FIG. 18 is a diagram illustrating a presence or absence of an operator in a passage and a determination of whether or not the passage can be opened / closed based on a detection result of a sensor according to the second embodiment.

FIG. 19 is a flowchart shown to explain the first half of another example of the interlock control operation when the worker exits the inside of the work passage in the second embodiment.

FIG. 20 is a flowchart for explaining the latter half of another example of the interlock control operation when the worker exits the inside of the work passage according to the second embodiment;

FIG. 21 is a view for explaining another example of the presence / absence of an operator in the passage and the determination of whether or not the passage can be opened / closed in the second embodiment.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 11 ... Fixed shelf, 12-14 ... Moving shelf, 15 ... Rail, 16-18 ... Wheel, 19 ... Wall part, 20 ... Stopping mechanism, 21 ... RCU, 22-24 ... Shelf control board, 25 ... Main passage, 26 ... storage box, 27 ... human body detection sensor, 28 ... sensor cover, 29 ... detection display lamp, 30 ... power supply lamp, 31 ... metal fittings, 32 ... management computer, 33 ... bus line, M1 to M3 ... motor, PB0 to PB3 ... Path select switch, FL0-FL3 ... Illumination light, PD0-PD3 ... Human body detection sensor, OP0-OP3 ... Light emitting device, OP0a, OP0b ... Light emitting unit, IP0-IP3 ... In / out sensor, IP0a, IP0b ... Sensor unit, LS0 to LS3: Limit switch, SB0 to SB3: Safety bar switch, CS: Main power switch, LP: Indicator lamp.

Claims (11)

[Claims] A plurality of shelves each of which is set to be movable along a specified rail, each of which has a self-propelled mechanism;
By controlling the movement of each of these shelves,
In a moving shelf apparatus for selectively forming a work passage between arbitrary shelves, it is detected that a worker has passed through an entrance of each work passage selectively formed between the plurality of shelves. First detecting means for detecting the presence of an operator in each work passage selectively formed between the plurality of shelves; and the first and second detecting means. A control means for judging the presence or absence of an operator in the formed work passage based on the detection result of the means, and automatically controlling an interlock for the work passage. Shelf safety device. 2. The control means determines that an operator is present in a work passage by detecting that the second detection means is in a detection state even when the first detection means is in a non-detection state. The safety device according to claim 1, wherein the work passage is controlled to an interlock state. 3. The control device according to claim 1, wherein after a lapse of a predetermined time period when the first detection unit is inverted from a detection state to a non-detection state,
2. The movement according to claim 1, wherein when the second detection unit is in a detection state, it is determined that an operator is present in the work passage, and the work passage is controlled to an interlock state. Shelf safety device. 4. The control unit according to claim 1, wherein after a lapse of a predetermined time after the first detection unit has reversed from a detection state to a non-detection state,
When the second detection unit is in the non-detection state until a predetermined time elapses, it is determined that no worker is present in the work passage, and the interlock of the work passage is released. The safety device for a mobile shelf according to claim 1. 5. The control device according to claim 1, wherein the control unit sets the interlock state of the work passage to the work passage controlled to the interlock state even if the second detection unit is in the non-detection state. The safety device for a movable shelf according to claim 1, wherein the safety device is not released. 6. The control means, when the second detection means is in a detection state in a state where the shelf is moved in a direction to close the work passage, causes the worker to enter the work passage in the work passage. 2. The movable shelves safety device according to claim 1, wherein it is determined that there is a movement, and the movement of the shelves is stopped. 7. The second detection means is an infrared sensor, and is partially covered with a sensor cover so that the detection area is restricted so as not to leak outside the work passage. The safety device for a movable shelf according to claim 1. 8. The first detection unit includes first and second detection units provided in the vicinity of an entrance and exit of a work passage along a direction in which a worker enters and exits, and the control unit includes the first detection unit. And when the worker enters the work passage, exits from the work passage, and enters the work passage and stops based on the combination of the respective detection outputs from the second detection unit. The safety device for a movable shelf according to claim 1, wherein the case is determined to be different from a case in which the mobile shelf exits from the work passage and is stopped. 9. The control means, when determining that the worker has exited from the work passage, detects the worker in the formed work passage based on a detection result of the second detection means. 9. The safety device according to claim 8, wherein the presence / absence is determined, and an interlock for the work passage is automatically controlled. 10. The control means includes a counter which is counted up when it is determined that the worker has entered the work passage, and is decremented when it is determined that the worker has exited the work passage. When the count value of the counter is 0, it is formed based on the detection result of the second detection means after the first time has elapsed from the point in time when it is determined that the worker has left the work passage. 9. The safety device for a movable shelf according to claim 8, wherein the presence or absence of a worker in the working passage is determined, and an interlock for the working passage is automatically controlled. 11. The control unit, when the count value of the counter is not 0, elapses a second time longer than the first time from a time point when it is determined that the worker has left the work passage. And determining whether there is an operator in the formed work passage based on a detection result of the second detection unit, and automatically controlling an interlock for the work passage. Item 11. A safety device for a mobile shelf according to Item 10.