JP2004123382A - Shelf system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a shelf system for correctly performing the width deviation correction control and the position control of a movable shelf and reducing the cost. <P>SOLUTION: The absolute coordinates of each movable detector 19 are obtained based on the detection signal of each movable detector 19 (in the right-to-left direction) of each movable shelf 1, the deviation in the right-to-left direction B from a traveling path i of the movable shelf 1 is corrected based on the deviation in the right-to-left direction of the absolute coordinates, and the deviation in the traveling direction, i.e., the inclination of the position of the movable shelf 1 is corrected to form a right angle to the longitudinal direction A based on the deviation of the position in the traveling direction of the right and left movable detectors 19 of these absolute coordinates, i.e., the deviation in the traveling distance. In this configuration, the width deviation correction control and the position control of the movable shelf 1 can be correctly performed, a detection body (such as a magnetic tape) installed along the traveling path i and a detector (such as a magnetic sensor) to detect the detection body are unnecessary, and the cost can be reduced thereby. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a shelf facility having a plurality of movable shelves.
[0002]
[Prior art]
Conventionally, the following configuration has been provided as this type of shelf equipment.
A fixed traveling route is set in the space in the warehouse or office, and a plurality of reciprocating shelves (moving shelves) are arranged on the fixed traveling route while leaving a space for a work passage, and a work space is provided between the moving shelves. When a passage is needed, a button for designating the necessary work passage is provided, for example, on a movable shelf facing the work passage, and a work passage is provided between the movable shelves designated in accordance with the operation of this button. One or a plurality of movable shelves are configured to travel along the fixed traveling path until the width becomes the width. An operator or a cargo handling vehicle (for example, a forklift) enters a work passage opened between the movable shelves, and articles are handled on the movable shelf facing the work passage.
[0003]
Also, as shown in FIG. 11A, a magnetic tape (detected object) 91 is laid along the traveling route 90, and the magnetic tape 91 is detected on each moving shelf 92 by a magnetic sensor (detector) 93. As a result, the shift of the movable shelf 92 from the travel route 90 is detected, and by correcting the detected offset, the width shift correction control is executed so that the movable shelf 92 can move along the travel route 90 ( For example, see Patent Document 1).
[0004]
The moving distances at both ends in the left-right direction perpendicular to the traveling direction X of the moving shelf 92 are respectively counted by the pulses of the pulse encoder 94 arranged at both ends in the left-right direction and connected to the traveling wheels of the moving shelf 92. The attitude control is performed so as to eliminate the difference in the moving distances of the two ends, that is, to maintain the attitude of the moving shelf 92 in a direction perpendicular to the traveling route 90 (for example, Patent Document 2).
[0005]
[Patent Document 1]
JP 2000-142922 A
[0006]
[Patent Document 2]
JP 2001-48314 A
[0007]
[Problems to be solved by the invention]
However, according to the above-described conventional configuration, as shown in FIG. 11B, when the movable shelf 92 moves while tilting, the trajectory of the pulse encoder 94 draws an arc, so that the moving distance α at both ends and the actual traveling direction An error occurs in the moving distance β of X, so that there is a problem that accurate attitude control of the moving shelf 92 cannot be executed.
[0008]
Further, when the movable shelf 92 is tilted, there is a problem that an error occurs in the moving distance in the left-right direction Y detected by the magnetic sensor 93.
In addition, an object to be detected (magnetic tape 91) is laid to correct a deviation from the traveling route 90, and a detector (magnetic sensor 93) for detecting the object to be detected is provided on each moving shelf 92. Since it is necessary to provide the shelf 92 with a detector (two pulse encoders 94) for maintaining the posture of the movable shelf 92 in a direction perpendicular to the traveling path 90, there has been a problem that the cost increases.
[0009]
SUMMARY OF THE INVENTION It is an object of the present invention to provide a shelf facility that can accurately execute width deviation correction control and attitude control of a movable shelf and can further reduce costs.
[0010]
[Means for Solving the Problems]
In order to achieve the above-mentioned object, according to the first aspect of the present invention, a plurality of movable shelves that can reciprocate on a traveling route via a traveling support device are arranged and opened between the movable shelves. A shelf facility that uses a work passage to handle articles on a moving shelf facing the work passage,
At least two movement detecting means for detecting a moving distance in the running direction and a moving distance in the left and right direction are provided per unit time in a left and right direction perpendicular to a running direction along the running route of each of the moving shelves. The absolute coordinates of the movement detecting means are obtained from the moving distance in the traveling direction and the moving distance in the horizontal direction detected by the movement detecting means on each of the moving shelves, respectively, and the movement is performed based on the absolute coordinates. A control for correcting a shift in the left-right direction or a shift in the traveling direction of the movable shelf from the traveling route of the movable shelf due to traveling of the shelf, and correcting the attitude of the movable shelf to a direction perpendicular to the traveling direction or the traveling direction. It is characterized by comprising means.
[0011]
According to the above configuration, the absolute coordinates of the position of each movement detecting means (in the left-right direction) of each moving shelf are obtained, and the left-right deviation from the traveling route of the moving shelf is determined based on the left-right deviation of these absolute coordinates. Is corrected (the width deviation correction control is executed), and based on the deviation of the position in the traveling direction of the absolute coordinates, the posture of the movable shelf is corrected so as to be in a direction perpendicular to the traveling direction (the posture control is executed). ). Alternatively, the deviation of the traveling position (deviation in the traveling direction) from the traveling target position of the movable shelf is corrected (position control is executed).
[0012]
As described above, the width shift correction control and the attitude control of the movable shelf can be accurately executed, and the detection means for executing the width shift correction control and the attitude control of the movable shelf may be only two movement detection means. Cost is reduced.
[0013]
According to a second aspect of the present invention, in the first aspect of the present invention, the movement detecting unit includes a light projecting unit that irradiates light obliquely to a floor on which the movable shelf is arranged. Imaging means for receiving light emitted from the light projecting means and reflected from the floor surface, and imaging fine projections or recesses on the floor surface; and fine projections on the floor surface imaged by the imaging means. The present invention is characterized in that a distance detecting means is provided for detecting the movement distance in the running direction and the movement distance in the left-right direction per unit time by tracking the movement of the position of the part or the concave part.
[0014]
According to the above configuration, light is emitted obliquely to the floor from the light projecting unit, the light reflected from the floor is received by the imaging unit, and a fine projection or recess on the floor is imaged. . The movement of the position of the minute projection or concave portion on the floor imaged by the imaging means is tracked by the distance detection means, and the moving distance in the running direction and the moving distance in the left-right direction per unit time are obtained.
[0015]
The invention according to claim 3 is the invention according to claim 2, wherein the movement detecting means detects light intensity of a floor surface on which the movable shelf is arranged, and the light detecting means And adjusting means for adjusting the intensity of light emitted by the light projecting means so that the intensity of light received by the imaging means is constant based on the illuminance of the floor surface detected by the means. It is assumed that.
[0016]
According to the above configuration, the illuminance of the floor surface is detected by the light detection unit, and when the illuminance of the floor surface changes, the change is detected by the light detection unit, and the detected illuminance of the floor surface is sent to the adjustment unit. The intensity of the light emitted by the light projecting means is adjusted based on the illuminance of the floor surface which is input and detected by the adjusting means, and the intensity of the light received by the imaging means is kept constant. Therefore, the illuminance (brightness and darkness) of the minute protrusion or concave portion of the floor surface detected by the imaging means is kept constant, and the possibility that the minute protrusion or concave portion of the floor surface is discriminated or not determined by the light and dark is avoided. And the detection error is reduced.
[0017]
The invention according to claim 4 is the invention according to claim 2 or claim 3, wherein an angle formed by the light irradiated by the light projecting means and the light received by the imaging means is substantially equal. The light emitting means and the imaging means are arranged so as to be at 90 degrees.
[0018]
According to the above configuration, the light emitted obliquely to the floor surface by the light projecting means is reflected by the floor surface and received by the imaging means arranged at a position at 90 degrees to the emitted light. Therefore, the light reflected by the floor surface is most efficiently received by the imaging unit, and the difference from the light that does not go to the imaging unit due to the minute projections or recesses on the floor becomes clear, and the minute projections or recesses on the floor surface are removed. The detection accuracy is improved.
[0019]
A fifth aspect of the present invention is the invention according to any one of the second to fourth aspects, wherein a direction of the light emitted by the light projecting means coincides with a traveling direction of the movable shelf. The light projecting means is arranged so as to perform the above operation.
[0020]
According to the above configuration, fine protrusions or recesses on the floor surface are continuously detected along the traveling direction of the movable shelf, and the detection of the moving distance in the traveling direction is smooth.
[0021]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a perspective view of a shelf facility according to an embodiment of the present invention, FIG. 2 is a front view of a moving shelf of the shelf facility, FIG. 3 is a plan view of a moving shelf of the shelf facility, and FIG. FIG. 5 is a side view of a traveling support device and a movement detector of a movable shelf of the shelf equipment.
[0022]
1 to 5, reference numeral 1 denotes a railless moving shelf that can reciprocate on a floor surface 2 along a fixed traveling path i via a traveling support device (described later). A plurality (three shelves in the figure) is provided on the surface 2. Fixed shelves 5 are provided on both sides of a traveling route i direction (hereinafter, referred to as a front-rear direction) A of the movable shelf group 1 so as to secure an open work passage S.
[0023]
Now, the plurality of moving shelves 1 are sequentially numbered No. 1 in the front-rear direction A from rear to front. 1 moving shelf 1, No. 1 2 moving shelf 1, No. No. 3 moving shelf 1 and the fixed shelf 5 at the rear and No. 3 The passage number of the work passage S opened between the moving shelf 1 and the moving shelf 1 is “01”, and the passage number is “01”. 1 and No. The passage number of the work passage S opened between the movable shelves 1 of No. 2 is “02”, 2 and No. The passage number of the work passage S opened between the moving shelves 1 of No. 3 is “03”, The passage number of the work passage S opened between the movable shelf 1 of No. 3 and the fixed shelf 5 in front is “04”.
[0024]
Each of the movable shelves 1 and each of the fixed shelves 5 has a plurality of struts 11, a plurality of front and rear frames 12, which are connected to each other at predetermined intervals in the vertical direction across the struts 11, respectively. And a plurality of left and right frames 13 supporting a pallet P on which an article F is placed, and a plurality of articles stored in the up and down and left and right directions B. A section 14 is formed, and a work path S opened between the movable shelves 1 or between the movable shelf 1 and the front and rear fixed shelves 5 is used. The pallet P loaded with the articles F is handled by the cargo handling vehicle G such as a forklift in the article storage section 14 of No. 5.
[0025]
Each of the movable shelves 1 is provided with a traveling portion (lower frame portion) 15 that travels while supporting the plurality of article storage portions 14. The traveling portion 15 includes a lower frame 18 and a lower frame 18. And two movement detectors (an optical mouse encoder which are respectively disposed at both ends in the left-right direction B at the center of the moving shelf 1 in the front-rear direction A and supported by the lower frame 18). (Example of movement detection means) 19.
[0026]
As shown in FIGS. 3 to 5, the lower frame body 18 is positioned at lower left and right side frames 18 a on the left and right sides with respect to the front-rear direction A of the movable shelf 1, and at five inner positions (a plurality of positions). A lower intermediate frame 18b, four (plural) connecting members 18c in the left-right direction B connected between the lower side frame 18a and the intermediate lower frame 18b, and a plurality of positions between the connecting members 18c. It is formed in a rectangular frame shape by a front-back direction transfer material 18d and a plurality of braces 18e. The lower side frame 18a and the intermediate lower frame 18b are each formed in a gate-shaped open bottom shape by a pair of side plate portions and an upper plate portion connected between upper ends of both side plate portions. . The connecting member 18c and the bridging member 18d are formed in a tubular shape having a rectangular cross section.
[0027]
The struts 11 are erected on the left and right side lower frames 18a and the middle lower frame 18b at five inner sides at four positions each (a total of 28 posts), and a sub beam 16 is provided between the pair of struts 11 in the front-rear direction. (FIG. 5).
[0028]
Traveling wheels 20 are provided as the traveling support devices at six locations (plural locations) in the left-right direction B and at two locations (plural locations) in the front-rear direction A along the traveling route i. These traveling wheels 20 are constituted by an inner ring body 20p made of metal and an outer ring body 20r made of hard urethane rubber, and are configured to roll on the floor 2 via the outer ring body 20r. Further, two (at least one) traveling wheels at both ends in the left-right direction B are interlocked with traveling drive means 23 provided directly on the lower frame 18 via the interlocking shaft 21 with the wheel shaft 20q of the traveling wheels. By being connected, the driving type traveling wheel 20A is configured. Each of the traveling driving means 23 is formed by an induction motor 24 and a speed reducer 25 linked to the motor shaft.
[0029]
In addition, the moving shelf 1 or the fixed shelf 5 facing the moving shelf 1 approaches the support 11 on the left side lower frame 18a and a surface (hereinafter, referred to as a side surface) facing the work passage S. , And an approach detector (an example of approach detection means) 31 composed of a reflective photoelectric switch for preventing the approaching movement of the movable shelf 1 or the fixed shelf 5 opposed to the movable shelf 1 is provided. . This approach detector 31 has the No. No. 1 is provided at two positions in the front-rear direction A on the moving shelf 1. A few moving shelves 1 are provided at one location in front.
[0030]
An operation panel 33 is provided on a surface (hereinafter, referred to as a front surface) formed by the plurality of columns 11 on the left side lower frame 18a, and a front surface of each operation panel 33 includes Is provided with an operation button 35 for selecting and operating the work passage S. Now, the operation buttons 35 corresponding to the work passages S1, S2, S3, and S4 are referred to as S1 operation buttons 35, S2 operation buttons 35, S3 operation buttons 35, and S4 operation buttons 35. If the S1 operation button 35 and the S2 operation button 35 are No. No. 1 is provided at both ends of the moving shelf 1 in the front-rear direction A, and the S3 operation button 35 is No. 2 is provided at the front end position of the moving shelf 1 and the S4 operation button 35 is No. 3 is provided at the front end position of the moving shelf 1.
[0031]
Further, inside the operation panel 33 of each of the movable shelves 1, a controller (an example of control means) 36 (FIG. 6) composed of a microcomputer and an inverter 37 (FIG. 6) for driving the motor 24 of each traveling drive means 23 are provided. Is provided.
[0032]
As shown in FIG. 6, two movement detectors 19, an approach detector 31, an operation button 35, and two inverters 37 are connected to the controller 36 of each moving shelf 1 as shown in FIG. The controllers 36 of the movable shelf 1 are connected. In addition, No. The front and rear approach detectors 31 and the front and rear S1 and S2 operation buttons 35 are connected to the controller 36 of one moving shelf 1. A motor drive signal (a speed command value including forward / reverse signals) is output from the controllers 36 to the two inverters 37, and the motors 24 are driven forward / reverse by the inverters 37 in accordance with the motor drive signals. Thus, the movable shelf 1 reciprocates, and the difference in speed between the left and right motors 24 eliminates the width deviation of the movable shelf 1 and corrects the attitude of the movable shelf 1 (details will be described later). .
[0033]
Also, as shown in FIGS. 1 and 3, a telescopic horizontal cable is provided between the fixed shelf 5 and the movable shelf 1 and between the movable shelf 1 in order to supply power to the inverter 37 and the controller 36 and to exchange signals between the controllers 36. An arm 39 is provided.
[0034]
As shown in FIGS. 1 and 2, a power supply box 41 of a shelf facility is provided in front of the fixed shelf 5 at the rear. As shown in FIG. 6, the power supply box 41 includes an overcurrent circuit breaker (breaker) 42 for a mobile shelf drive power supply connected to a commercial power supply line (corresponding to a drive power supply for each mobile shelf 1). A control power supply (not shown) for supplying control power to the controller 36 of the movable shelf 1 and an overcurrent circuit breaker (breaker) 43 for control power connected to the control power supply are provided. 43, drive power and control power are supplied to each movable shelf 1 via the horizontal cable arm 39.
[0035]
The structure and detection principle of the movement detector 19 will be described with reference to FIG.
As described above, the pair of movement detectors 19 are arranged at both ends in the left-right direction B at the center in the front-rear direction A of the moving shelf 1 and are supported by the connecting member 18c at the center of the lower frame 18, As shown in FIG. 7A, each movement detector 19 applies light to the floor 2 on which the moving shelf 1 is arranged so that the direction of light to be irradiated coincides with the traveling direction A of the moving shelf 1. A light-emitting diode (LED; an example of a light projecting means) 51 that irradiates the pulse light L approximately one million times per second diagonally, and the pulse light L radiated from the light-emitting diode 51 and reflected from the floor 2 are collected. A lens 52 that emits light, and an image pickup device (CCD; image pickup device) that receives the pulse light L condensed by the lens 52 and reflected from the floor surface 2 and images the minute protrusion 2a or the concave portion 2b of the floor surface 2 Example of means) 53 and floor imaged by image sensor 53 By tracking the movement of the position of the two minute protrusions 2a or the recesses 2b, the movement distance x in the front-back direction (running direction) A and the movement distance y in the left-right direction B per unit time t are detected, and the synchronization signal is detected. and a photo for detecting the illuminance of the floor 2 on which the moving shelf 1 is arranged (illuminance of the floor 2 at the place where the moving detector 19 is arranged), which is output together with the distance detector 54 (an example of distance detecting means). A light emitting diode 51 based on a sensor (an example of a light detecting unit) 55 and the illuminance of the floor surface 2 detected by the photo sensor 55 so that the intensity of the pulse light L received by the image sensor 53 is constant. An adjusting circuit (an example of adjusting means) 56 for adjusting the intensity of light emitted by the light emitting diode 51 by controlling the value of current supplied to the light emitting diode 51, and a control power supply (FIG. 6) for adjusting the voltage to a predetermined voltage And distance And a control power supply circuit 57 for supplying power and can 54 to the adjustment circuit 57.
[0036]
Further, the light emitting diode 51, the lens 52 and the image sensor 53 are arranged such that the angle δ formed by the light emitted by the light emitting diode 51 and the pulse light L received by the image sensor 53 via the lens 52 is substantially 90 degrees. The mounting position of has been adjusted.
[0037]
As shown in FIG. 7B, the distance detector 54 binarizes the image pickup signal of the image pickup device 53 at a preset signal level (threshold value) to form a light and dark pattern (fine projection 2a or concave portion 2b). (A pattern serving as a dark portion) is formed, and the position of the pixel D of the image sensor 53 that detects the protrusion 2a or the concave portion 2b is stored for each irradiation in accordance with the irradiation of the pulse light L, and is stored along the traveling direction A. The position of the pixel D moving in the direction opposite to the moving direction is tracked, and the distance x, y (the distance between the pixels D is set in advance) that is moved every predetermined time t is determined. Output to the controller 36. The interval between the pixels D is about 50 μm or less. Since the pixels D of the CCD detecting the protrusion 2a or the concave portion 2b are tracked in accordance with the irradiation of the pulse light, the image sensor 53 has a tilt on a plane. If it does, there is no problem in output accuracy.
[0038]
As described above, the light is emitted from the light emitting diode 51 obliquely to the floor 2 along the traveling direction A of the moving shelf 1, and the light reflected from the floor 2 is received by the image sensor 53, A image of the minute protrusion 2a or the concave portion 2b of the floor surface 2 over a long range is taken at A, and the movement of the position (pixel D) of the fine protrusion 2a or the concave portion 2b of the floor surface 2 imaged by the image sensor 53 is shown. The moving distance x in the running direction A and the moving distance y in the left-right direction B for each unit time t are obtained by tracking by the distance detector 54.
[0039]
Further, based on the illuminance of the floor surface 2 detected by the photo sensor 55, a current value supplied to the light emitting diode 51 is controlled by the adjustment circuit 56 so that the intensity of light received by the image sensor 53 is constant. The intensity of light emitted by the light emitting diode 51 is adjusted, so that even when the illuminance of the floor surface 2 changes, the illuminance (brightness or darkness) of the minute protrusion 2a or the concave portion 2b of the floor surface 2 is kept constant, and imaging The intensity of light received by the element 53 is kept constant.
[0040]
The operation of the controller 36 of the moving shelf 1 will be described with reference to the control block diagrams of FIGS.
When the operation buttons 35 except the S1 operation button 35 are operated, in order to form the worker's path S in front of the movable shelf 1 on which the operation button 35 is operated, the movement on which the operation button 35 is operated is performed. It is necessary to move the shelf 1 and all the movable shelves 1 behind the movable shelf 1 backward, and advance all the movable shelves 1 ahead of the movable shelf 1 on which the operation button 35 is operated. When the S1 operation button 35 is operated, the No. In order to form the work passage S1 behind one of the moving shelves 1, all the moving shelves 1 need to be advanced. Further, when at least two operation buttons 35 are simultaneously operated, it is necessary to judge that the operation is an illegal operation and lock (stop) the movement of the movable shelf 1.
[0041]
Therefore, when an operation command for the S2, S3, and S4 operation buttons 35 excluding the S1 operation button 35 is input, a signal indicating that the operation button 35 is being operated is output to the controller 36 of another moving shelf 1 while the operation command is being input. At the same time, a backward command is output to the controllers 36 of all the movable shelves 1 on the rear side, and a forward command is output to the controllers 36 of all the movable shelves 1 on the front side. When an operation command for the S1 operation button 35 is input, while the operation command is being input, a signal indicating that the operation button 35 is being operated and a forward command are output to the controller 36 of the front moving shelf 1.
[0042]
Further, a simultaneous operation detection unit 60 is provided which determines whether or not the operation button 35 of the moving shelf 1 provided with the controller 36 has been operated at substantially the same time by judging an operation command from the other controller 36 and an in-operation signal from another controller 36. . The simultaneous operation detection unit 60 holds a signal during operation (operation signal command) of the operation button 35 of the moving shelf 1 provided with the controller 36 and an operation signal from another controller 36 for a predetermined time, and further holds two signals. A combination of signals during operation of the operation button 35 is formed, a logical product (AND) of the operation signals of the two operation buttons 35 held for a predetermined time for each combination is obtained, and a logical sum (OR) of outputs of these logical products is obtained. ) And outputs the data, and this configuration detects that at least two of the operation buttons 35 are operated almost simultaneously.
[0043]
When an operation command of the operation button 35 is input or a reverse command is input from the controller 36 of the moving shelf 1 in front, a reverse stop command (described later) is input from the controller 36 of the moving shelf 1 adjacent to the rear. The controller 36 of the adjacent mobile shelf 1 checks whether the output of the simultaneous operation detection unit 60 is ON (when it is determined that at least two operation buttons 35 are simultaneously operated). When a stop command has not been input and the output of the simultaneous operation detection unit 50 is not on, a reverse command is output to the speed control unit 61.
[0044]
The travel distance deviation and the shift amount described later are input to the speed control unit 61, and the speed control unit 61 corrects the attitude of the movable shelf 1 based on the travel distance deviation and removes the two shift units so as to eliminate the shift amount. The speed of the motors 24 is provided with a speed difference (the details will be described later), and when a reverse command is input, the speed difference between the two motors 24 is set according to the travel distance deviation and the amount of deviation. And outputs a motor drive signal (speed command value) to the reverse drive to the two inverters 37. Each motor 24 is driven backward by the two inverters 37, and the moving shelf 1 moves backward while eliminating the travel distance deviation and the deviation amount.
[0045]
When a reverse stop command is input from the controller 36 of the moving shelf 1 adjacent to the rear, the reverse command to the speed control unit 61 is turned off, and the moving shelf 1 is stopped. Also, even if the operation command of the operation button 35 is input or the reverse command is input from the controller 36 of the moving shelf 1 ahead, when the reverse stop command is input, or when the output of the simultaneous operation detection unit 60 is on, No reverse command is output to the speed control unit 61, and the moving shelf 1 remains stopped. Further, the reverse command to the speed control unit 61 is formed only while the operation command of the operation button 35 is being input or while the reverse command is being input from the controller 36 of the moving shelf 1 ahead. When the command and the reverse command from the controller 36 of the front moving shelf 1 are turned off, the reverse command to the speed control unit 61 is turned off, and the moving shelf 1 is stopped.
[0046]
When a forward command is input from the controller 36 of the rear moving shelf 1, it is checked whether the approach detector 31 is operating and whether the output of the simultaneous operation detection unit 60 is ON or not. When the operation is not performed and the output of the simultaneous operation detection unit 60 is not on, a forward command is output to the speed control unit 61. Accordingly, the speed control unit 61 corrects the attitude of the movable shelf 1, sets the speed difference between the two motors 24 so as to eliminate the deviation amount, and drives the two inverters 37 to drive the motors forward. Outputs a signal (speed command value). The motors 24 are driven forward by the two inverters 37, and the moving shelf 1 moves forward while eliminating the travel distance deviation and the shift amount. When the approach detector 31 operates, the forward command to the speed controller 61 is turned off, and the moving shelf 1 is stopped. When the approach detector 31 is operating when a forward command is input from the controller 36 of the rear movable shelf 1 or when the output of the simultaneous operation detector 60 is on, the forward command is output to the speed controller 61. Therefore, the moving shelf 1 remains stopped. The forward command to the speed controller 61 is formed only while the forward command is being input from the controller 36 of the rear moving shelf 1. When the forward command from the controller 36 of the rear moving shelf 1 is turned off, the speed control is performed. The forward command to the unit 61 is turned off, and the moving shelf 1 is stopped. When the approach detector 31 operates, the reverse stop command is output to the controller 36 of the moving shelf 1 adjacent to the front side.
[0047]
As described above, when the output of the simultaneous operation detection unit 60 is ON, that is, when two or more operation buttons 35 are operated almost simultaneously (incorrect operation), neither the reverse command nor the forward command is output. , The moving shelf 1 remains stopped.
[0048]
In addition, No. When the operation signal of the S1 operation button 35 is input, the controller 36 of the first moving shelf 1 outputs the forward command and the in-operation signal to the controllers 36 of all the moving shelves 1 on the front side as described above, and When the approach detector 31 is not operating, a forward command is output to the speed control unit 61. No. In the controller 36 of the movable shelf 1, when the approach detector 31 on the rear side operates, the reverse command is turned off, and the backward movement of the movable shelf 1 is stopped. An operation signal of the S1 operation button 35 is input to the simultaneous operation detection unit 60.
[0049]
As shown in FIG. 9, each time the synchronization signal s of the left movement detector 19 is input to the controller 36, a first counter that counts the distance x per unit time input from the left movement detector 19 62L and the moving distance X before and after the position of the movement detector 19 from the count value of the first counter 62L. _L And a second counter that counts the distance y per unit time input from the left movement detector 19 each time the synchronization signal s of the left movement detector 19 is input. 64L and the left and right moving distance Y of the position of the movement detector 19 from the count value of the second counter 64L. _L , And a first counter 62R based on the detection signal (distance x, y and synchronization signal s) of the right movement detector 19, and a right-and-left distance calculation unit 63R. 2R counter 64R and a right and left distance calculation unit 65R, and a movement distance X of the left movement detector 19 calculated by a left and right distance calculation unit 63L. _L Thus, the moving distance X of the right movement detector 19 calculated by the right front-rear distance calculating unit 63R. _R Is subtracted to obtain a travel distance deviation (the left lead is positive), and the moving distance Y of the left movement detector 19 calculated by the left and right distance calculating unit 65R. _L And the moving distance Y of the right movement detector 19 calculated by the right and left distance calculating unit 65R. _R The average value of the left movement detector 19 is calculated by calculating an average value of the left movement detector 19 by calculating an average value of the left movement detector 19 and calculating an amount of left and right deviation from the traveling route i (a deviation in the left direction is positive). _L , Y _L ) And the absolute coordinates (X _R , Y _R ) And the travel distance deviation and the deviation amount are obtained from detection signals (distances x and y and a synchronization signal s) of the left and right movement detectors 19.
[0050]
FIG. 10 shows a detailed block diagram of the speed control unit 61.
As shown in FIG. 10, a relay RY-F that operates when a forward command is input, a relay RY-B that operates when a reverse command is input, and both a forward command and a reverse command are input. A relay RY-S is provided that operates when not in operation, that is, when a stop command is issued. Further, a speed setting device 71 in which a predetermined traveling speed of the movable shelf 1 is set is provided.
[0051]
The travel distance deviation input from the subtractor 66 is selected when an off-delay timer 83 described later is off, and when the timer 83 is on, no distance deviation (deviation = 0) is selected. The first function unit 72 for calculating the speed correction amount of the left driven traveling wheel 20A based on the selected deviation and the second function unit 73 for calculating the speed correction amount of the right driven traveling wheel 20A are provided. Has been. When the deviation exceeds a predetermined amount (dead band) and becomes positive, the first function unit 72 outputs a positive speed correction amount in proportion to the deviation. When the value exceeds the dead band, the speed correction amount is output in proportion. If the selected deviation exceeds a plus or minus predetermined amount (dead band), that is, the speed correction amount is output from the first function unit 72 or the second function unit 73, and the moving shelf attitude correction control (tilt correction control) ) Is provided, a first comparator 74 that operates when the first comparator 74 operates, and a relay RY-P that operates by the operation of the first comparator 74 is provided.
[0052]
Further, a second comparator 82 is provided which operates when the shift amount input from the average value calculation block 67 exceeds a plus or minus predetermined amount (dead band of function units 76 and 77 described later). An off-delay timer 83 that operates by the operation of the device 82 is provided. Further, the shift amount is selected when the relay RY-P is not operating, and no width shift (shift amount = 0) is selected when the relay RY-P is operating. A third function unit 76 for obtaining a speed correction amount of the left driven traveling wheel 20A based on the shift amount and a fourth function unit 77 for obtaining a speed correction amount of the right driven traveling wheel 20A are provided. When the shift amount exceeds a predetermined amount (dead band) of plus (width shift in the left direction) and becomes positive, the third function unit 76 outputs a positive speed correction amount in proportion to the positive amount. When the deviation exceeds a predetermined amount (dead band) and becomes negative, a positive speed correction amount is output in proportion. The moving shelf width deviation correction control is executed based on the speed correction amount output from the third function unit 76 or the fourth function unit 77.
[0053]
Further, the plus speed correction amount output from the first function unit 72 and the third function unit 76 is subtracted from the predetermined traveling speed of the moving shelf 1 set by the speed setting unit 71, and the left driving traveling wheel 20A is subtracted. And a first lower limiter 79 that limits the lower limit of the speed command value of the left driven traveling wheel 20A obtained by the second subtractor 78 and guarantees the minimum speed. The speed command value of the left driven traveling wheel 20A whose lower limit is limited is selected by the operation of the relay RY-F (ON by the forward command), and is selected by the operation of the relay RY-B (ON by the reverse command). A value obtained by subtracting the speed command value of the left driven traveling wheel 20A, whose lower limit is limited, is selected, and the speed command value of the left driven traveling wheel 20A is determined by the operation of the relay RY-S (on by a stop command). “0” It is selected, and is configured to output a speed command value to the left of the inverter 37.
[0054]
Further, the speed correction amount output from the second function unit 73 and the fourth function unit 77 is subtracted from the predetermined traveling speed of the movable shelf 1 set by the speed setting unit 71, and the speed of the right driven traveling wheel 20A is subtracted. A third subtractor 80 for obtaining a command value, and a second lower limiter 81 for limiting the lower limit of the speed command value of the right driven traveling wheel 20A obtained by the third subtractor 80 and guaranteeing the minimum speed are provided. The speed command value of the right driven traveling wheel 20A whose lower limit is limited is selected by the operation of the relay RY-F (ON by the forward command), and the lower limit is selected by the operation of the relay RY-B (ON by the reverse command). Is selected as a negative value of the speed command value of the right driven traveling wheel 20A in which the speed command value of the right driven traveling wheel 20A is set to “0” by the operation of the relay RY-S (turned on by a stop command). "Is selected , And it is configured to output a speed command value to the right of the inverter 37.
[0055]
When the speed command value is positive, the forward speed command value is shown, and when the speed command value is negative, the backward speed command value is shown.
With the configuration of the speed control unit 61, normally, when a forward command or a reverse command is input, the traveling distance deviation is eliminated based on the traveling distance deviation between the left and right ends provided with the movement detector 19. That is, the moving shelf attitude control for outputting a speed command value having a speed difference between the speeds of the two motors 24 is executed so that the attitude of the moving shelf 1 is perpendicular to the traveling route i, and When the shift amount reaches a predetermined amount and the second comparator 82 operates, a speed command value for providing a speed difference between the speeds of the two motors 24 is set so as to eliminate the shift amount in preference to the moving shelf attitude control. The output moving shelf width deviation correction control is executed. When the shift amount in the left-right direction falls within the predetermined amount by the moving shelf width shift correction control, the moving shelf attitude control is executed again after a time set by the timer 83.
[0056]
The operation of the above shelf equipment will be described. Now, as shown in FIG. 2 and No. It is assumed that it is formed between three moving shelves 1. At this time, No. No. 1 with the approach detectors 31 before and after the moving shelf 1 of No. 1 respectively. The proximity detector 31 of the third movable shelf 1 is operating (ON). The work is performed by opening the work passage S2.
[0057]
The operator first confirms that no one is in the work passage S3, and The S2 operation button 35 of the first moving shelf 1 is operated. Then, No. In response to the S2 operation button 35, the controller 36 of the movable shelf 1 of No. 1 1 outputs a reverse command to the speed control unit 61 of the controller 36 of the moving shelf 1, and outputs a forward No. 1 command. 2 and No. A forward command is output to the controller 36 of the third moving shelf 1. At this time, No. No. 1 because the proximity detector 31 behind the moving shelf 1 is on. The moving shelf 1 of No. 1 remains stopped without moving backward. No. 3 because the proximity detector 31 of the moving shelf 1 of No. 3 is on. The moving shelf 1 of No. 3 remains stopped without moving forward.
[0058]
No. The second moving shelf 1 starts moving forward. Note that while the S2 operation button 35 is operated, a command is output to the controller 36 of each mobile shelf 1, and when the operation of the S2 operation button 35 is stopped, the command is turned off. The second moving shelf 1 stops.
[0059]
Such a No. During the forward movement of the second movable shelf 1, the travel distance deviation and the shift amount are input to the speed control unit 61, and the attitude of the movable shelf 1 is corrected by the speed control unit 61 based on the travel distance deviation as described above. Alternatively, the speeds of the two motors 24 are controlled so as to eliminate the deviation amount.
[0060]
And, No. The moving shelf 1 of No. 2 moves forward, and When the approach detector 31 in front of the moving shelf 1 of No. 2 is turned on, the forward command is turned off. The moving shelf 1 of No. 2 is No. 2. 3 and closes to the moving shelf 1, and the work passage S2 is opened. No. No. 2 from the controller 36 of the moving shelf 1 of No. 2 A reverse stop command is output to the controller 36 of the third moving shelf 1.
[0061]
When the work passage S2 is formed, the worker enters the work passage S2 and performs an operation for handling articles.
When the operation of the operation button 35 by the operator is stopped and the operation command is turned off, all the forward command and the reverse command are turned off, and the forward command and the reverse command to the speed control unit 61 (inverter 37) are turned off. , The moving shelf 1 is stopped. Therefore, by stopping the operation of the operation button 35 in the middle of the movement of the movable shelf 1 and stopping the movement of the movable shelf 1, it is possible to form two or three paths into which an operator can enter arbitrarily. In addition, even when the moving shelf 1 is stopped in the middle of the formation of the work passage S in this manner, for example, in a state where two passages or three passages are formed, the operation of opening the movement shelf 35 in response to the operation of the operation button 35 is performed. The moving direction of the movable shelf 1 to be moved according to the use passage S is determined, and the speed control unit 61 (the inverter 37) is controlled based on the determined movement direction, whereby the target work passage S can be formed. .
[0062]
As described above, according to the present embodiment, the moving distance x in the front-back direction A and the moving distance y in the left-right direction B per unit time detected by each (left-right direction) movement detector 19 of each moving shelf 1. Thus, the absolute coordinates of the position of each movement detector 19 (in the left-right direction) of each movement shelf 1, that is, (X _L , Y _L ) And (X _R , Y _R ) Is determined, and the displacement of the moving shelf 1 in the left-right direction B from the traveling route i of the moving shelf 1 is corrected based on the amount of displacement of the absolute coordinates in the left-right direction. The width deviation correction control can be executed accurately, and based on the deviation of the absolute coordinates in the traveling direction, that is, the traveling distance deviation, the deviation of the traveling direction at the position of each movement detector 19, that is, the moving shelf 1 Is corrected so as to be perpendicular to the front-rear direction A, the posture control of the movable shelf 1 can be executed accurately. Further, the conventional detection object (such as the magnetic tape 91) laid along the traveling route i and a detector (such as the magnetic sensor 93) for detecting the detection object are not required, which reduces the cost. it can.
[0063]
Further, according to the present embodiment, based on the illuminance of the floor surface 2 detected by the photo sensor 55, the adjustment circuit 56 controls the light emitting diode 51 so that the intensity of light received by the image sensor 53 is constant. By controlling the value of the current to be supplied and adjusting the intensity of the light emitted by the light emitting diode 51, even if the illuminance of the floor 2 changes, the brightness of the fine protrusions 2a or the recesses 2b of the floor 2 can be changed. Therefore, even if the threshold value for binarizing the image signal of the image sensor 53 is a fixed value, the fine protrusion 2a or the concave portion 2b of the floor 2 can be determined or determined based on the brightness (illuminance). It is possible to avoid the possibility that the projection 2a or the recess 2b can be stably tracked. Further, detection errors can be reduced.
[0064]
Further, according to the present embodiment, the light L radiated obliquely from the light emitting diode 51 to the floor 2 is reflected by the floor 2 and is disposed at a position substantially 90 degrees of the radiated light L. The light L reflected by the floor 2 is most efficiently received by the image sensor 53 by being received by the image sensor 53, and the light L that does not go to the image sensor 53 by the fine protrusions 2 a or the recesses 2 b of the floor 2. , The accuracy of detecting the minute protrusion 2a or the recess 2b of the floor 2 can be improved.
[0065]
Further, according to the present embodiment, since the direction of light L emitted from light emitting diode 51 matches the traveling direction of moving shelf 1 (front-back direction A), the traveling direction of moving shelf 1 (front-back direction A). By continuously detecting the fine protrusions 2a or the recesses 2b of the floor surface 2 over a long range, the detection of the moving distance x in the traveling direction can be made smooth.
[0066]
In the present embodiment, the width shift correction control and the attitude control of the movable shelf 1 are executed. However, the travel deviation of the movable shelf 1 from the target travel position is corrected, that is, the position control of the movable shelf 1 is executed. It can also be done. At this time, the absolute coordinate X of the position of each movement detector 19 in the front-rear direction A _L , X _R The absolute moving distance of the moving shelf 1 is obtained from the average value of the moving shelf 1, and when the target moving distance to the target travel position is set, the deviation between the set value and the absolute moving distance of the moving shelf 1 is obtained. The speed command value is output to the inverter 37 so that
[0067]
Further, in the present embodiment, the movement detectors 19 serving as the movement detecting means are provided at both ends in the left-right direction B of the moving shelf 1, but are not limited to both ends and may be provided in the left-right direction B. The number of movement detectors 19 is not limited to two, but may be increased, and the absolute coordinates of the movement detectors 19 may be determined to perform the width shift correction control and the attitude control or the position control of the moving shelf 1. It may be executed.
[0068]
Further, in the above-described embodiment, the plurality of movable shelves 1 are arranged between the fixed shelves 5 before and after the shelf equipment. However, the plurality of movable shelves 1 are arranged between the fixed shelves 5 before and after such. As one block, a configuration of a shelf facility including a plurality of blocks may be used. Further, a configuration in which a space for the work passage S is secured between the walls and a plurality of movable shelves 1 are arranged (a configuration without the fixed shelves 5 on both sides or a configuration without the fixed shelves 5 on one side) may be adopted. Good.
[0069]
Further, in the present embodiment, the power supply box 41 is provided on the fixed shelf 5, but the power supply box 41 is not limited to the fixed shelf 5, but may be provided on the wall of a movable shelf 1 or a warehouse or the like in which the shelf equipment is installed. it can.
[0070]
Further, in the present embodiment, a photoelectric switch is used as the approach detector 31. However, the approach detector 31 is not limited to the photoelectric switch, and any device that can detect the approach of the moving shelf 1 or the fixed shelf 5 may be used. For example, a magnetic sensor or the like may be used. When a magnetic sensor is used, a magnet or the like that generates a magnetic force is mounted on the surface of the movable shelf 1 or the fixed shelf 5 facing the magnetic sensor.
[0071]
Further, in the present embodiment, assuming that the article storage section 14 is installed in a warehouse where the article F is handled by the cargo handling vehicle G such as a forklift, the placement and storage of the article F via the pallet P are performed. Although it is assumed that the article F and the case are directly placed and stored, for example, assuming that the article F is installed in an office.
[0072]
Further, in the present embodiment, the article storage section 14 is formed vertically, horizontally, and horizontally by the column 11, the front and rear frames 12, and the left and right frames 13, but the article storage section 14 may be in a form other than this type. For example, a form in which the article storage sections are formed vertically and horizontally by the columns 11 and the shelf boards 12 or a form in which only one-stage article storage section 14 is used may be used.
[0073]
Further, in the present embodiment, the type of the traveling wheel 20 is shown as the traveling support device, but this may be a caterpillar type (roller chain type) or the like.
In the present embodiment, the adjustment circuit 56 supplies power to the light emitting diode 51 based on the illuminance of the floor surface 2 detected by the photo sensor 55 so that the intensity of light received by the imaging element 53 is constant. The current value is controlled to adjust the intensity of light emitted by the light emitting diode 51. The image signal of the image sensor 53 of the distance detector 54 is based on the illuminance of the floor 2 detected by the photo sensor 55. May be adjusted to a signal level (threshold) for binarizing. According to this configuration as well, it is possible to avoid the possibility of distinguishing or not distinguishing the minute protrusion 2a or the concave portion 2b of the floor surface 2 due to light and darkness (illuminance), stably form a light and dark pattern, and stably project the protrusion. 2a or recess 2b can be tracked. Further, detection errors can be reduced.
[0074]
【The invention's effect】
As described above, according to the present invention, the absolute coordinates of the position of each movement detection means (left and right direction) of each moving shelf are determined by the movement distance in the running direction and the movement distance in the left and right direction detected by each movement detection means. The deviation in the horizontal direction from the traveling route of the moving shelf is corrected based on the deviation of the absolute coordinates in the lateral direction, and the deviation in the traveling direction is determined based on the deviation of the absolute coordinates in the traveling direction. By correcting the inclination of the attitude of the shelf in a direction perpendicular to the traveling direction, it is possible to accurately execute the width shift correction control and the attitude control of the movable shelf, or to perform the position control of the movable shelf, and to perform these controls of the movable shelf. Is only required to be the movement detecting means, and the cost can be reduced.
[Brief description of the drawings]
FIG. 1 is a perspective view of shelf equipment according to an embodiment of the present invention.
FIG. 2 is a front view of the shelf equipment.
FIG. 3 is a partial plan view of a moving shelf of the shelf equipment.
FIG. 4 is a partially cutaway plan view of a main part of a moving shelf of the shelf equipment.
FIG. 5 is a side view of a traveling driving unit and a moving unit of a moving shelf of the shelf equipment.
FIG. 6 is a circuit configuration diagram of the shelf equipment.
FIG. 7 is an explanatory diagram of a movement detector of the shelf equipment.
FIG. 8 is a control block diagram of a controller of each moving shelf of the shelf equipment.
FIG. 9 is a control block diagram of a controller of each moving shelf of the shelf equipment.
FIG. 10 is a control block diagram of a controller of each moving shelf of the shelf equipment.
FIG. 11 is a diagram for explaining the traveling control of each moving shelf of the conventional shelf equipment and the problem thereof.
[Explanation of symbols]
1 Moving shelf
2 floor
5 fixed shelves
14 goods storage
15 Running part
19 Movement detector
20 running wheels
24 motor
31 Approach detector
33 Operation panel
35 Operation buttons
36 Moving shelf controller
37 Inverter
41 Power supply box
51 Light emitting diode
52 Condensing lens
53 Image sensor
54 Distance detector
55 Photo Sensor
56 adjustment circuit
A Front-back direction
B left and right direction
F article
G cargo handling vehicle
L light
S Work passage
i travel route
δ Angle of light

Claims (5)

A plurality of movable shelves that can reciprocate on a traveling route via a traveling support device are provided, and a work passage opened between the movable shelves is used to move articles on the movable shelf opposed to the work passage. Shelf equipment for handling
At least two movement detecting means for detecting a moving distance in the running direction and a moving distance in the left and right direction are provided per unit time in a left and right direction perpendicular to a running direction along the running route of each of the moving shelves. ,
Based on the moving distance in the traveling direction and the moving distance in the left-right direction detected by the movement detecting means, the absolute coordinates of the movement detecting means are obtained for each of the moving shelves. Control means for correcting a displacement of the movable shelf from the traveling route in the left-right direction or a traveling direction of the movable shelf, and correcting the attitude of the movable shelf to a direction perpendicular to the traveling direction or to the traveling direction. Shelf equipment comprising: The movement detection means,
Light emitting means for irradiating light obliquely to the floor surface on which the movable shelf is arranged,
An imaging unit that receives light reflected from the floor surface illuminated from the light projecting unit and captures an image of a minute protrusion or recess on the floor surface;
A distance detecting means for detecting a moving distance in the running direction and a moving distance in the left-right direction per unit time by tracking the movement of the position of the minute projection or concave portion of the floor surface imaged by the imaging means; The shelf equipment according to claim 1, wherein: The movement detection means,
Light detection means for detecting the illuminance of the floor on which the movable shelf is arranged,
Adjusting means for adjusting the intensity of light emitted by the light projecting means so that the intensity of light received by the imaging means is constant based on the illuminance of the floor surface detected by the light detecting means; The shelf equipment according to claim 2, characterized in that: The light projection means and the imaging means are arranged such that an angle formed by light irradiated by the light projection means and light received by the imaging means is approximately 90 degrees. The shelf equipment according to claim 2 or claim 3. 5. The light projecting device according to claim 2, wherein the light projecting device is arranged such that a direction of light emitted by the light projecting device coincides with a traveling direction of the movable shelf. 6. Shelf equipment.

Images