JP2004245587A - Object detection device and moving shelf apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a moving shelf apparatus using an object detection device capable of minimizing signal lines for outputting detection signals. <P>SOLUTION: A master detection unit 50 and a plurality of slave detection units 60(1) to 60(3) are installed in a working passage 34 formed on adjacent moving shelves 30. An optical communication detection line starting from the light emitting part of the master detection unit 50 and returning to the master detection unit 50 through the slave detection units 60(1) to 60(3) in order can be established. Communication detection light between the shelves is set to pass the working passage 34. Based on the light receiving state of the communication detection light in the master detection unit, it is determined whether the object is present or not between the adjacent moving shelves. <P>COPYRIGHT: (C)2004,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to an object detection device that detects the presence or absence of an object in a predetermined detection range, and a mobile shelf device to which the object detection device is applied.
[0002]
[Prior art]
2. Description of the Related Art As a conventional moving shelf device, there is one in which a plurality of moving shelves are provided in an aligned state, and each moving shelf is moved in an alignment direction under the control of a motor mounted on each moving shelf (see Patent Document 1).
[0003]
In this moving shelf device, when a passage is formed between a desired moving shelf and a moving shelf adjacent thereto, each moving shelf is sequentially moved so as to close a work path currently being formed, and a desired moving shelf is formed. A work passage is formed therebetween.
[0004]
By the way, in the moving shelf apparatus as described above, when forming a new work passage, the work passage currently being formed is closed. For this reason, it is necessary to detect whether or not an object such as a worker exists in the work passage to be closed.
[0005]
Generally, in order to detect the presence or absence of an object in a predetermined range, for example, a plurality of transmission-type optical sensors are installed, or light is projected toward a floor surface as disclosed in Patent Document 1. , And a plurality of light receivers that receive light that is emitted from the light projector and irregularly reflected on the floor surface can be adopted.
[0006]
Thus, in order to detect the presence or absence of an object in a predetermined range having a certain extent, it is necessary to provide a plurality of detection means.
[0007]
[Patent Document 1]
JP-A-11-343909
[0008]
[Problems to be solved by the invention]
However, when a plurality of detection units are provided, it is necessary to lay signal lines between each of the detection units and a control unit that performs a predetermined process based on the detection result, which leads to a complicated configuration. I was
[0009]
Therefore, an object of the present invention is to provide an object detection device capable of reducing the number of signal lines for outputting a detection signal as much as possible and a mobile shelf device to which the object detection device is applied.
[0010]
[Means for Solving the Problems]
In order to solve the above-mentioned problem, the invention according to claim 1 is an object detection device for detecting the presence or absence of an object in a predetermined detection range, wherein the light-emitting unit irradiates communication detection light and receives the communication detection light. A parent detecting unit having a light receiving section, a light receiving section for receiving communication detection light, a light emitting section for irradiating communication detection light, and irradiating the communication detection light from the light emitting section when the communication detection light is received by the light receiving section. A plurality of child detection units having a child communication control unit, and an optical communication detection line is established from the light emitting unit of the parent detection unit to the light receiving unit of the parent detection unit via the child detection units sequentially. And the communication detection light is set so as to pass through the predetermined detection range, and the presence of an object in the predetermined detection range is determined based on the light reception state of the communication detection light in the light receiving unit of the parent detection unit. It is intended to detect the.
[0011]
According to a second aspect of the present invention, a plurality of movable shelves are arranged along a predetermined arrangement direction, and each of the movable shelves is moved along the predetermined arrangement direction, so that a predetermined movable shelf and an adjacent movable shelf are arranged. A mobile shelf device that forms a passage between the mobile shelf and a parent detection unit that has a light emitting unit that irradiates communication detection light and a light receiving unit that receives communication detection light on the adjacent mobile shelf, A plurality of child detection units each including a light receiving unit that receives the detection light, a light emitting unit that emits the communication detection light, and a child communication control unit that emits the communication detection light from the light emitting unit when the communication detection light is received by the light receiving unit. A light communication detection line is established from the light-emitting portion of the parent detection unit to the light-receiving portion of the parent detection unit via the child detection units sequentially, and the communication detection light is adjacent to the light detection portion. Formed between the moving shelves that fit It is set so as to pass through the following passage, and the presence or absence of an object between the adjacent movable shelves is determined based on the light receiving state of the communication detection light in the light receiving unit of the parent detection unit, and it is determined that the object is present The movement of each of the moving shelves is prohibited.
[0012]
The invention according to claim 3, wherein at least one of the parent detection unit and each of the child detection units, the light emitting unit irradiates a communication detection light toward a light emitting unit that is a light receiving destination, and the adjacent The communication detection light is also set to be radiated to a predetermined peripheral detection range in a passage that is to be formed between the moving shelves, and is radiated from the light emitting unit toward the peripheral detection range. A reflected light receiving unit for receiving light reflected by the object, and adjacent to each other based on a light receiving state of the communication detection light in the light receiving unit of the parent detection unit and a light receiving state of the reflected light in the reflected light receiving unit; It is for judging the presence or absence of an object between the moving shelves.
[0013]
According to a fourth aspect of the present invention, at least one of the light-emitting portion of the parent detection unit and the light-emitting portion of each of the child detection units passes through an entrance / exit of a passage to be formed between adjacent moving shelves. Irradiate the communication detection light so as to be formed between the adjacent movable shelves based on the light receiving state of the communication detection light passing through the entrance and exit at the light receiving destination and the light receiving state of the reflected light at the reflected light receiving unit. This is to determine the entry or exit of the object into or out of the passage.
[0014]
The invention according to claim 5, wherein the communication detection light is inclined with respect to the moving direction of each of the movable shelves between the parent detecting unit and the child detecting unit and between at least one of the child detecting units. The light emitting unit that is irradiated along the intersecting direction and irradiates the communication detection light obliquely can irradiate light toward the light receiving unit that is a light receiving destination from a state where the adjacent movable shelf is closed to an open state. The communication detection light is radiated in a wide range.
[0015]
According to a sixth aspect of the present invention, each of the moving shelves is provided with a notifying means for notifying a detection state of an object in a passage between the adjacent moving shelves.
[0016]
According to a seventh aspect of the present invention, the notification means is display means which can be visually recognized from the inside of the passage between the adjacent movable shelves.
[0017]
BEST MODE FOR CARRYING OUT THE INVENTION
<< 1st Embodiment >>
Hereinafter, an object detection device according to a first embodiment of the present invention will be described.
[0018]
FIG. 1 is a schematic diagram showing the overall configuration of the object detection device. This object detection device is a device for detecting the presence or absence of an object in a predetermined detection range M. In FIG. 1, a substantially rectangular range surrounded by a two-dot chain line is a predetermined detection range M.
[0019]
The object detection device includes one parent detection unit 10 and a plurality (five in this case) of child detection units 20 (1) to 20 (5).
[0020]
FIG. 2 is a block diagram showing an electrical configuration of the parent detection unit 10, and FIG. 3 is a block diagram showing an electrical configuration of the child detection units 20 (1) to 20 (5).
[0021]
The parent detection unit 10 includes a light emitting unit 11, a light receiving unit 12, and a parent communication control unit 13.
[0022]
The light emitting unit 11 is configured by a light emitting element such as an infrared light emitting diode, and irradiates the communication detection light A (1) (see FIG. 1) in a predetermined direction. The light receiving unit 12 includes a light receiving element such as a photodiode or a phototransistor, and receives communication detection light A <b> 6 (see FIG. 1) from a predetermined direction.
[0023]
The master communication control unit 13 includes a CPU or the like, and controls light emission driving of the light emitting unit 11. Further, when the communication detection light A <b> 6 is received by the light receiving unit 12, the received light signal is input to the master communication control unit 13. Then, when the light receiving signal is input, it is determined that an object exists in the predetermined detection range M, and a detection output is output through an output terminal.
[0024]
The child detection unit 20 (1) includes a light emitting unit 21, a light receiving unit 22, and a child communication control unit 23.
[0025]
The light emitting unit 21 is configured by a light emitting element such as an infrared light emitting diode, for example, and irradiates the communication detection lights A-2 to A-6 (see FIG. 1) in a predetermined direction. The light receiving section 22 is configured by a light receiving element such as a photodiode or a phototransistor, and receives communication detection lights A (1) to A (5) (see FIG. 1) from predetermined directions.
[0026]
The slave communication control unit 23 is configured by a CPU or the like, and controls light emission driving of the light emitting unit 21 based on the light receiving state of the light receiving unit 22. That is, when the communication detecting lights A (1) to A (5) are received by the light receiving unit 22, the light receiving signal is input to the slave communication control unit 23. When the light receiving signal from the light receiving unit 22 is input, the slave communication control unit 23 drives the light emitting unit 21 to emit light and emits the communication detection lights A (2) to A (5).
[0027]
The child detection units 20 (2) to 20 (5) have the same configuration as the child detection unit 20 (1).
[0028]
The parent detection unit 10 and the child detection units 20 (1) to 20 (5) are arranged in the detection range M in the following manner.
[0029]
That is, the parent detection unit 10 is disposed at one corner of the detection range M, that is, one end of one long side (the long side on the upper side in FIG. 1). The child detection unit 20 (1) is disposed substantially at the center of the other long side (the lower long side in FIG. 1). The child detection unit 20 (2) is disposed at another corner of the detection range M, that is, at the other end of one long side. The child detection unit 20 (3) is disposed at another corner of the detection range M, that is, at the other end of the other long side. The child detection unit 20 (4) is disposed substantially at the center of one long side. The child detection unit 20 (5) is disposed at another corner of the detection range M, that is, at one end of the other long side.
[0030]
The light emitting unit 11 and the light receiving unit 12 of the parent detecting unit 10 and the light emitting unit 21 and the light receiving unit 22 of each of the child detecting units 20 (1) to 20 (4) are changed from the parent detecting unit 10 to the child detecting unit 20 (1). From the child detection unit 20 (1) to the child detection unit 20 (2), from the child detection unit 20 (2) to the child detection unit 20 (3), from the child detection unit 20 (3) to the child detection unit 20 (4). ), The communication detection lights A (1) to A (6) are emitted from the child detection unit 20 (4) to the child detection unit 20 (5), and from the child detection unit 20 (5) to the parent detection unit 10, respectively. Each irradiation range and light receiving range are set so that light is received. In FIG. 1, the irradiation order of each communication detection light A is indicated by A (1) to A (6).
[0031]
In other words, an optical communication detection line is established from the light emitting unit 11 of the parent detection unit 10 to the light receiving unit 12 of the parent detection unit 10 via the child detection units 20 (1) to 20 (5) sequentially. And each of the communication detection lights A (1) to A (6) is set to pass through a predetermined detection range M. Here, passing through the detection range B includes a case of passing through a boundary line between the detection range M and its outer periphery, such as the communication detection lights A (3) to A (6).
[0032]
The number of the parent detection units 10 and each of the child detection units 20 (1) to 20 (5) and the arrangement thereof are merely examples, and the arrangement of each of the child detection units 20 (1) to 20 (5) is an example. The number may be increased or decreased so that the passing lines of the communication detection lights A (1) to (6) in the detection range M become coarser or denser.
[0033]
In this object detection device, for example, when a person or the like enters the detection range M, any one of the communication detection lights A is blocked by the human body. For example, when a person enters between the child detection unit 20 (2) and the child detection unit 20 (3), the communication detection light A <3> is blocked, and the communication detection light A <3> is detected by the child detection unit 20 (3). 3 ▼ is in a state of not receiving light. As a result, the optical communication after the child detection units 20 (4) and 20 (5) is interrupted, the light receiving unit 12 of the parent detection unit 10 enters a non-light receiving state, and the parent detection unit 10 detects an object in the detection range M. Is output.
[0034]
The detection signal thus output is input to a predetermined external control unit, and the control unit performs predetermined control based on the presence or absence of an object in a predetermined detection range M. The control content includes, for example, a control for prohibiting the movement of the movable body to the detection range M based on the presence or absence of an object in the detection range M, as in an example applied to a movable shelf device as described later, Control for issuing an alarm to an intruder into M may be mentioned.
[0035]
According to the object detection device configured as described above, the presence or absence of an object in the detection range M can be detected based on the light receiving state of the communication detection light A <b> 6 in the light receiving unit 12 of the parent detection unit 10. It is possible to reduce the number of signal lines led out from the child detection units 20 (1) to 20 (5) to the outside.
[0036]
In addition, if it is desired to detect the presence or absence of an object, that is, the presence or absence of an object by specifying the existence position of a part of each of the communication detection lights A (1) to (6), the following configuration is used. realizable. For example, when it is desired to detect the presence / absence of light blocking of the communication detection light A (3), when the communication detection light A (3) is received on the child detection unit 20 (3) side, the child detection unit 20 (3) receives the child detection signal from the child detection unit 20 (3). The answerback optical signal is transmitted to the detection unit 20 (2). The child detection unit 20 (3) and the parent detection unit 10 perform optical communication directly or through the child detection unit 20 (1), or perform wired communication to perform the child detection. The presence / absence of an answerback optical signal is transmitted from the unit 20 (2) to the parent detection unit 10. When the parent detection unit 10 is notified that there is no answerback optical signal, the parent detection unit 10 blocks the communication detection light A (3), that is, the presence of an object on the line through which the communication detection light A (3) passes. Can be determined.
[0037]
As described above, even if the presence or absence of light shielding is specified for some of the communication detection lights A (1) to (6), detection signals are output from all the child detection units 20 (1) to 20 (5). It is not necessary to output the detection signal from only a part of the child detection units 20 (1) to 20 (5) corresponding to the part to be specified. It is possible to reduce the number of signal lines for outputting the detection signal as compared with the case where the detection signal is output from 〜20 (5).
[0038]
<< 2nd Embodiment >>
A mobile shelf device according to a second embodiment of the present invention will be described.
[0039]
FIG. 4 is a perspective view showing the entire configuration of the moving shelf device. The moving shelf device includes a plurality of moving shelves 30 arranged along a predetermined arrangement direction.
[0040]
Rails 35 are laid along the predetermined direction on the floor surface of the area where the movable shelves 30 are installed. The movable shelves 30 are arranged along the rails 35 so as to be reciprocally movable. Each moving shelf 30 is provided with a driving motor 46 (see FIG. 5) as a shelf moving means. The driving motor 46 drives wheels on the rail 35, so that each moving shelf 30 35 is reciprocated along the predetermined arrangement direction.
[0041]
A passage forming operation switch 30a for instructing the formation of the work passage 34 is provided on the right side (may be on the left side or on both the left and right sides) of the outer side on one side of each movable shelf 30. By operating a predetermined passage forming operation switch 30a, each moving shelf 30 is automatically moved, and a predetermined moving shelf 30 corresponding to the predetermined passage forming operation switch 30a that has performed the operation and a corresponding moving shelf 30 are moved. A work passage 34 is formed between the adjacent movable shelf 30 (on the right side in the example shown in FIG. 1). FIG. 4 shows a state in which a work passage 34 is formed between the leftmost movable shelf 30 and the rightmost movable shelf 30.
[0042]
Further, when the other passage forming operation switch 30a is operated, each moving shelf 30 is moved so as to close the currently formed work passage 34, and corresponds to the next operated passage forming operation switch 30a. A new work path is formed between the moving shelves 30.
[0043]
Note that a shelf interval detection unit 38 is provided between the movable shelves 30 as means for detecting each shelf interval. The shelf interval detecting unit 38 includes, for example, a pair of connecting arm parts whose one end side is rotatably connected to each other and whose other end side is rotatably connected to the adjacent moving shelf 30, respectively, and a pair of connecting arms. A configuration including an angle detection unit such as a potentiometer or a rotary encoder that detects an angle at which the units intersect can be adopted. In the shelf interval detector 38, the angle at which the pair of connecting arms intersect changes according to the shelf interval between the adjacent movable shelves 30. For this reason, the configuration is such that a shelf interval is detected by detecting an angle at which the pair of connecting arms intersect. The shelf interval detection signal from the shelf interval detection unit 38 is supplied to the movement control unit 40 of each adjacent movable shelf, and the main control unit 48 that controls the overall operation of the present mobile shelf device from the transmission / reception circuit 44 through the communication circuit. Also given.
[0044]
FIG. 5 is a block diagram showing an electrical configuration of the moving shelf device.
[0045]
In this mobile shelf device, each of the mobile shelves 30 includes a movement control unit 40 that performs a respective movement control, and a determination unit 42 that determines whether an object exists between the formed work paths 34. I have.
[0046]
The movement control unit 40 and the determination unit 42 are configured by, for example, a general microcomputer including a CPU, a ROM, a RAM, and the like, and execute a predetermined operation described below by a software program stored in advance.
[0047]
A detection signal from a parent detection unit 50, which will be described later, is output to the determination unit 42, and based on the detection signal, the presence or absence of an object in the work passage 34 is determined.
[0048]
The determination result from the determination unit 42 is given to the movement control unit 40, and a shelf interval detection signal from the shelf interval detection unit 38 and a passage forming signal input via the passage forming operation switch 30a are input to the movement control unit 40. You. The movement control unit 40 can communicate with a main control unit 48 that controls the entire operation of the mobile shelf device from the transmission / reception circuit 44 via a communication line 49. Then, a signal including shelf interval information and the like and an operation signal of the passage forming operation switch 30 a are transmitted to the main control unit 48 through the communication line 49. Based on the information, the main control unit 48 determines the moving direction of each moving shelf 30, the shelf interval to be formed between adjacent moving shelves 30 in front of the moving direction, the moving timing, and the like. A command is sent to the movement control unit 40 of each moving shelf 30 through the line 49. The main control unit 48 is provided, for example, on the movable shelf 30 at one end of each movable shelf 30 (see FIG. 4).
[0049]
Further, in response to this command, each movement control unit 40 controls the movement of each moving shelf 30. That is, when it is determined by the determination unit 42 that there is no object in the work passage 34, the motor 46 is driven through a drive circuit (not shown) in accordance with a command from the main control unit 48, so that a predetermined The moving shelf 30 is moved in a predetermined direction at the moving timing of. Then, when the shelf interval between the movable shelves 30 in the forward direction of the moving direction is substantially the same as the commanded shelf interval, the movement of the movable shelf 30 is stopped. When the movement of each movable shelf 30 is completed, a work path 34 is formed between predetermined movable shelves 30.
[0050]
On the other hand, when the determination unit 42 determines that an object is present in the work passage 34, the movement of the own moving shelf 30 is prohibited, and the prohibition command is given to the other moving shelves 30 via the communication line 49. . Alternatively, when a movement prohibition command is given from another moving shelf 30, the movement of the own moving shelf 30 is prohibited.
[0051]
Note that the main control unit 48 is omitted, and the movement control units 40 provided in each of the moving shelves 30 perform mutual communication and perform cooperative control with each other. May be performed, or a single centralized control unit that centrally controls the movement of each movable shelf 30 may be provided in any one of the movable shelves 30 or other locations.
[0052]
FIG. 6 is a schematic plan view showing the overall configuration of the object detection device applied to the mobile shelf device. FIG. 6 illustrates an object detection device provided between two adjacent movable shelves 30, but a similar object detection device is provided between the other movable shelves 30.
[0053]
This object detection device detects the presence or absence of an object in a work passage 34 formed between adjacent moving shelves 30, and includes one parent detection unit 50 and a plurality (three in this case) of child detection units 60 ( 1) to 60 (3).
[0054]
FIG. 7 is a block diagram showing an electrical configuration of the parent detection unit 50, and FIG. 8 is a block diagram showing an electrical configuration of the child detection unit 60 (1).
[0055]
The parent detection unit 50 includes a light emitting unit 51, a light receiving unit 52, a parent communication control unit 53, and a display light emitting unit 54.
[0056]
The light emitting unit 51 is configured by a light emitting element such as an infrared light emitting diode, and irradiates communication detection light in a predetermined direction and a predetermined range. The light receiving unit 52 includes a light receiving element such as a photodiode or a phototransistor, and receives communication detection light from a predetermined direction and a predetermined range. The irradiation range of the light emitting unit 51 and the light receiving range of the light receiving unit 52 will be described later in detail.
[0057]
The master communication control unit 53 is configured by a CPU or the like, and controls driving of the light emitting unit 51.
[0058]
When light is received by the light receiving section 52, the received light signal is input to the master communication control section 53. Then, the master communication control unit 53 outputs a detection output from each of the three output terminals according to the input signal. This detection output is given to the determination units 42 of the movable shelves 30 on both sides of the corresponding work passage 34, respectively.
[0059]
Further, the display light-emitting unit 54 is configured by a light-emitting element such as a visible light-emitting diode. The display light-emitting unit 54 has a posture in which the light-emitting surface is directed toward the work passage 34 so that the light-emitting surface can be visually recognized from the work passage 34 between the movable shelves 30. The parent communication control unit 53 causes the display light-emitting unit 54 to emit light when the detection output is being output. By using the light emission of the display light-emitting unit 54 as a clue, it is possible for an operator or the like present on the work passage 34 side to know whether or not the presence of the worker is detected.
[0060]
Note that, instead of the display light-emitting unit 54, a liquid crystal display panel or a sounding body that issues a predetermined alarm may be provided. Further, it may be provided in a posture that can be visually recognized from outside the work passage.
[0061]
The child detection unit 60 (1) includes a first light emitting unit 61, a light receiving unit 62, a master communication control unit 53, and a second light emitting unit 64.
[0062]
The first light emitting unit 61 and the second light emitting unit 64 are configured by light emitting elements such as infrared light emitting diodes. The first light emitting section 61 emits communication detection light in a predetermined direction and a predetermined range. The second light emitting section 64 emits an answerback optical signal in a predetermined direction. The light receiving unit 62 includes a light receiving element such as a photodiode or a phototransistor, and receives communication detection light from a predetermined direction and a predetermined range. The irradiation range of the first light emitting unit 61 and the second light emitting unit 64 and the light receiving range of the light receiving unit 62 will be described later in detail.
[0063]
The child communication control unit 63 is configured by a CPU or the like, and controls light emission driving of the first light emitting unit 61 and the second light emitting unit 64 based on the light receiving state of the light receiving unit 62. Accordingly, the first light emitting unit 61 emits a predetermined detection communication light, and the second light emitting unit 64 transmits a predetermined optical signal as an answerback optical signal.
[0064]
The other child detection unit 60 (2) transmits a predetermined detection signal to the parent detection unit 50 instead of transmitting an optical signal as an answerback optical signal. It has a similar configuration. The child detection unit 60 (3) has the same configuration as the child detection unit 60 (1).
[0065]
In addition, the communication signal light emitted from the parent detection unit 50 and each of the child detection units 60 (1) to 60 (3), the answerback signal described below, and the detection signal are not confused with each other. It contains identification information registered in advance separately for each. Each of the parent detection units 50 and each of the child detection units 60 (1) to 60 (3) of the receiving destination determines whether each light reception signal includes identification information registered in advance, and determines whether each of the light reception signals includes the identification information. It is determined whether or not the communication detection light is received, or whether or not reflected light described later is received.
[0066]
This article detection device includes an optical communication detection line that returns from the parent detection unit 50 to the parent detection unit 50 via each of the child detection units 60 (1) to 60 (3), similarly to the first embodiment. The function of detecting the presence or absence of an object between the moving shelves 30 based on the light receiving state of the communication detection light in the light receiving unit of the parent detection unit, and the reflected light of the communication detection light irradiated around the optical communication detection line It has a function of detecting the presence or absence of an object in the peripheral detection area of the light detection line by utilizing.
[0067]
First, the operation related to the former function will be mainly described. As shown in FIG. 6, the parent detection unit 50 and each of the child detection units 60 (1) to 60 (3) are formed between predetermined moving shelves 30. It is installed at each of the four corners of the work passage 34 to be completed.
[0068]
More specifically, the parent detection unit 50 is located on one end side in the width direction of the movable shelf 30 on one side of the pair of movable shelves 30 sandwiching the predetermined work passage 34 and at a portion facing the work passage 34. Is provided. Here, the width direction of the moving shelf 30 means a direction orthogonal to the moving direction (predetermined arrangement direction) of the moving shelf.
[0069]
The child detection unit 60 (1) is provided at a portion facing one end of the moving shelf 30 on the other side in the width direction and facing a predetermined work passage 34. That is, the child detection unit 60 (1) is provided at a position facing the parent detection unit 50 with the work passage 34 interposed therebetween.
[0070]
The child detection unit 60 (2) is provided at a portion facing the work passage 34 on the other end side in the width direction of the movable shelf 30 on one side. That is, the child detection unit 60 (2) is provided at a position facing the child detection unit 60 (1) with the diagonal line of the work passage 34 interposed therebetween.
[0071]
The child detection unit 60 (3) is provided at a portion facing the work passage 34 on the other end in the width direction of the other movable shelf 30. That is, the child detection unit 60 (3) is located at a position facing the child detection unit 60 (2) with the work passage 34 interposed therebetween, and On the other hand, it is provided at a position facing the work path 34 across a diagonal line.
[0072]
Then, the communication detection light B (1) emitted from the light emitting unit 51 of the parent detection unit 50 is received by the light receiving unit 62 of the child detection unit 60 (1). Next, the communication detection light B [2] emitted from the first light emitting portion 61 of the child detection unit 60 (1) passes along the diagonal line of the work passage 34 and is received by the light receiving portion 62 of the child detection unit 60 (2). Is done. Next, the communication detection light B <b> 3 illuminated from the first light emitting unit 61 of the child detection unit 60 (2) is received by the child detection unit 60 (3). Finally, the communication detection light B {4} emitted from the child detection unit 60 (3) passes along the diagonal line of the work passage 34 and is received by the light receiving section 52 of the parent detection unit 50.
[0073]
In other words, an optical communication detection line is established from the light emitting unit 51 of the parent detection unit 50 to the light receiving unit 52 of the parent detection unit 50 via the child detection units 60 (1) to 60 (3) sequentially. , And the communication detection lights B (1) to B (4) are set to pass through the work passage 34 between the movable shelves 30. Here, the case of passing through the work passage 34 includes the case of passing through the outer peripheral boundary of the work passage 34 as in the case of the communication detection lights B (1) and B (3).
[0074]
The number of the parent detection units 50 and the child detection units 60 (1) to 60 (3) and the arrangement thereof are merely examples, and the number of the child detection units 60 (1) to 60 (3) is not limited. The number of arrangements may be increased or decreased, and the passage of the communication detection light in the work passage 34 may be set to be coarser or denser.
[0075]
Further, in the present embodiment, the following configuration is provided so that the presence or absence of an object can be detected at the entrance / exit portion of the work passage 34, that is, whether or not the communication detection lights B (1) and B (3) can be detected. Is adopted.
[0076]
That is, when the communication detection light B (1) from the parent detection unit 50 is received by the light receiving unit 62 of the child detection unit 60 (1), the child detection unit 60 (1) An answer-back optical signal D1 is transmitted toward 50. In the parent detection unit 50, when the answer back light signal D1 is not received within a predetermined time after the irradiation of the communication detection light B [1], the communication detection light B [1] is blocked, that is, one side of the work passage 34. Detect the presence of an object at the doorway.
[0077]
When the communication detection light B <b> 3 from the child detection unit 60 (2) is received by the light receiving unit 62 of the child detection unit 60 (3), the child detection unit 60 (3) The answerback optical signal D2 is transmitted to the child detection unit 60 (2). In the child detection unit 60 (2), when the answer back optical signal D2 is not received within a predetermined time after irradiating the communication detection light B (3), the second light emitting unit 64 is directed toward the parent detection unit 50 when the answer back light signal D2 is not received. The entrance / exit object detection optical signal D3 is transmitted. The parent detection unit 50 detects the presence of an object at the other entrance when the entrance / exit object detection optical signal D3 from the child detection unit 60 (2) is received by the light receiving unit 52.
[0078]
In this way, the presence or absence of an object at the entrance of the work passage 34 is detected. In the present embodiment, since the communication detection lights B (1) to B (4) pass through either the entrance of the work passage 34 or the diagonal line of the work passage 34, the presence of an object at the entrance of the work passage 34 is not determined. When the light is not detected and the light receiving unit 52 of the parent detection unit 50 is in the non-light receiving state as described above, one of the communication detection lights B (2) and B (4) passing through the diagonal line of the work passage 34 is blocked. It is determined that it has been performed.
[0079]
In this way, the presence or absence of an object at the entrance / exit is determined based on the state of reception of the communication detection lights B (1) and B (3) passing through the entrance / exit of the work passage 34.
[0080]
FIG. 9 is a flowchart for explaining a communication operation from the parent detection unit 50 to the parent detection unit 50 via each of the child detection units 60 (1) to 60 (3).
[0081]
As shown in the figure, first, in step S1, the communication detection light B (1) is emitted from the parent detection unit 50.
[0082]
Next, in step S2, it is determined whether or not the communication detection light B (1) has been received by the child detection unit 60 (1). When the communication detection light B (1) is not received, the optical communication via the optical communication detection line is interrupted. On the other hand, when the communication detection light B (1) is received, the answer back optical signal D1 is transmitted from the child detection unit 60 (1) to the parent detection unit 50 in step S3. Subsequently, the process proceeds to step S4, where the child detection unit 60 (1) is irradiated with the communication detection light B (2) from the child detection unit 60 (2).
[0083]
In the following step S5, it is determined whether or not the communication detection light B2 has been received by the child detection unit 60 (2). When the communication detection light B (2) is not received, the optical communication via the optical communication detection line is interrupted. On the other hand, when the communication detection light B [2] is received, the process proceeds to step S6, where the child detection unit 60 (2) irradiates the child detection unit 60 (3) with the communication detection light B [3].
[0084]
Next, in step S7, it is determined whether or not the communication detection light B (3) has been received by the child detection unit 60 (3). Here, when the communication detection light B {circle around (3)} is not received, the answer back optical signal D2 is not transmitted from the child detection unit 60 (3) to the child detection unit 60 (2). Then, the object detection optical signal D3 indicating that there is no answerback optical signal is transmitted from the child detection unit 60 (2) to the parent detection unit 50. At this time, the optical communication via the optical communication detection line is interrupted.
[0085]
On the other hand, when the communication detection light B1 is received in step S7, the process proceeds to step S8, where the answer back optical signal D2 is transmitted from the child detection unit 60 (3) to the child detection unit 60 (2). You. Subsequently, in step S9, the communication detection light B (4) is emitted from the child detection unit 60 (3) to the parent detection unit 50.
[0086]
Then, in step S10, the presence / absence of reception of the communication detection light B {circle around (4)}, that is, the success or failure of the communication is determined by the parent detection unit 50, and the communication in one cycle is completed. This communication detection cycle is repeated every predetermined time while the passage 34 is formed between the adjacent moving shelves 30.
[0087]
In this operation, when the answer back optical signal D1 from the child detecting unit 60 (1) is not received (see steps S2 and S3), the parent detecting unit 50 outputs the answer back from the child detecting unit 60 (2). When the object detection light signal D3 indicating no light signal is transmitted (see steps S7 and S11), the detection output 1 indicating the object detection at the entrance of the work passage 34 is output. When the optical communication through the optical communication detection line is interrupted, that is, when the parent detection unit does not receive the communication detection light B (4) (see steps S2, S5, and S7), the detection output to that effect is output. 2 is output.
[0088]
Next, an operation for detecting the presence or absence of an object in the peripheral detection area of the light detection line will be described.
[0089]
As shown in FIG. 6, the light emitting unit 51 of the parent detection unit 50 irradiates the communication detection light B (1) to the child detection unit 60 (1), which is the light receiving destination, and emits a predetermined light in the work passage 34. It is set so that the communication detection light is emitted even toward the peripheral detection range C (1). In the present embodiment, the communication detection light is emitted from one corner of the work passage 34 toward the fan-shaped peripheral detection range C (1) having a central angle of about 90 degrees toward the inside of the work passage 34. .
[0090]
The light receiving section of the parent detection unit 50 is configured to be able to receive the reflected light from the peripheral detection range C (1). Thus, when the communication detection light emitted from the light emitting unit 51 is reflected by an object within the peripheral detection range C (1), the reflected light is received by the light receiving unit 52. The parent detection unit 50 determines the presence or absence of an object in the surrounding detection range C (1) in the work passage 34 based on the state of receiving the reflected light, that is, whether or not the reflected light is received.
[0091]
Similarly, the other child detection units 60 (1) to 60 (3) also form a fan shape from each corner of the work passage 34 toward the fan-shaped peripheral detection ranges C2 to C4 in the work passage 34. Light is emitted, and the presence or absence of an object in each of the peripheral detection ranges C (2) to C (4) is determined based on the state of receiving the reflected light. The reflected light may be detected for any one or more of the parent detection unit 50 and each of the child detection units 60 (1) to 60 (3).
[0092]
When the parent detection unit 50 and the child detection units 60 (1) to 60 (3) detect the presence of an object in the corresponding peripheral detection ranges C <1> to C <4>, the information indicating the presence is detected. Is transmitted in the communication detection light B ▲ 1 ▼ B4 at the time of the next communication detection cycle, and the information is transmitted via the communication detection light B ▲ 1 ▼ B4４. Is to be conveyed to. In the parent detection unit 50, when the received communication detection light B <b> 4 </ b> includes information indicating that the presence of an object in the surrounding detection ranges C <b> 1 to C <b> 4 is detected, The detection output 3 is output from the detection terminal.
[0093]
Next, movement control of the moving shelf 30 based on the detection output from the object detection device will be described. FIG. 10 is a flowchart for explaining the moving operation of the moving shelf 30.
[0094]
First, as shown in step S21, when the work passage 34 is formed between the adjacent moving shelves 30, the process proceeds to step S22, where the operation shifts to the idle mode as an initial state, and the operation of detecting an object in the work passage 34 is performed. To start. In the idle mode, it is determined that no object such as a worker exists in the passage 34.
[0095]
Next, the process proceeds to step S23, where it is determined whether the passage 34 is not closed, that is, whether the passage forming operation switch 30a is not operated. When the passage 34 is not closed, the process proceeds to step S24. It is determined whether or not optical communication through the light detection line has been established in the object detection device in the work passage 34.
[0096]
Here, when it is determined that the optical communication has been established, the process proceeds to step S25, and it is determined whether the work path 34 has entered or exited.
[0097]
Here, the entry into or exit from the work passage 34 is determined as follows. That is, when the object X such as a worker enters the work passage 34, the communication detection light B (1) (or B (3)) passing through the entrance / exit portion of the work passage 34 is shielded as shown in FIG. Thereafter, as shown in FIG. 12, the reflected light in the peripheral detection range C-1 or C-2 (or C-3 or C-4) is detected. Therefore, when the detection output 3 is output after the detection output 1, the entry into the work passage 34 is determined. Conversely, when the detection output 1 is output after the detection output 3, the exit from the work passage 34 is determined. The detection output 3 is output one communication detection cycle later than the actual detection. In order to more accurately determine the entry or exit, it is preferable to shorten the communication detection cycle interval as much as possible.
[0098]
Returning to FIG. 10, if it is determined in step S25 that the vehicle has exited or there is no entry / exit, the process returns to step S22 to continue the idle mode and perform the detection operation again.
[0099]
On the other hand, when it is determined in step S25 that there is an ingress, and when it is determined in step S24 that communication has not been established, the process proceeds to step S26 and shifts to the object detection mode. This object detection mode is a state in which it is determined that an object such as a worker exists in the work passage 34.
[0100]
Next, the process proceeds to step S27, in which it is determined whether the passage 34 is not closed, that is, whether the passage forming operation switch 30a is not operated. If the passage 34 is not closed, the process proceeds to step S28. It is determined again whether there is entry or exit from the work passage 34.
[0101]
In step S28, when it is determined that there is no entry into the work passage 34 or when there is no entry or exit, the process returns to step S26 to continue the object detection mode. On the other hand, when the exit is determined in step S28, the process returns to step S22, shifts to the idle mode, and the operation after step S22 is performed again.
[0102]
When it is determined in steps S23 and S27 that the passage is closed, the process proceeds to step S29.
[0103]
In step S29, it is determined whether or not the idle mode is set. If the idle mode is not set, that is, if the object detection mode is set, the process proceeds to step S33, and the movement of the movable shelf 30 in the work passage 34 is prohibited. On the other hand, when it is determined that the mode is the idle mode, the process proceeds to step S30 to start moving the movable shelf 30.
[0104]
Then, the process proceeds to step S31 to determine whether or not the communication is established. If the communication is not established, the process proceeds to step S30 to prohibit the movement of the mobile shelf 30. On the other hand, when the communication is established, the process proceeds to step S32 to determine whether the passage 34 is closed. If the passage 34 is not closed, the process proceeds to step S31 to continue the movement of the mobile shelf 30. Then, the determination in step S31 is performed again.
[0105]
If it is determined in step S32 that the passage 34 has been closed, the movement of the movable shelf is stopped, and the process ends.
[0106]
In this mobile shelf apparatus, as shown in FIGS. 13 and 14, the communication detection lights B <b> 2 and B <b> 4 illuminated obliquely to the moving direction of each mobile shelf 30, that is, child detection The communication detection lights B [2] and B [4] emitted from the first light-emitting unit 61 of the units 60 (1) and 60 (3) change the state where the adjacent movable shelf 30 is closed to open. The light is irradiated to the light receiving unit 62 of the child detection unit 60 (2) and the light receiving unit 52 of the parent detection unit 50, which are the light receiving destinations, respectively, in a range where light can be irradiated. In the present embodiment, light can be directly communicated between them by light, and the light is irradiated at such a light intensity that the reflected light can be received in the above-described peripheral detection ranges C2 and C4. Have been.
[0107]
Thereby, even when each movable shelf 30 moves so as to close the passage 34 between the adjacent movable shelves 30, the child detecting units 60 (1) to 60 (2) and the child detecting units 60 (3) also move. Optical communication to the parent detection unit 50 becomes possible. Therefore, it is possible to detect an object based on the success or failure of communication even while the mobile shelf 30 is moving. That is, an object can be detected on the movement locus of the oblique detection line accompanying the movement of the movable shelf 30. Therefore, when the adjacent moving shelves 30 are closed, the objects existing between the moving shelves 30 inevitably pass through the oblique detection lines at any point in time. ▼ will be shaded.
[0108]
For this reason, it is possible to more reliably detect a wide range and fine objects with a relatively simple configuration. In addition, the optical axis of the communication light hardly shifts, the optical communication can be performed continuously and reliably, and the installation at the time of construction can be performed relatively easily.
[0109]
According to the mobile shelf apparatus configured as described above, the presence or absence of an object in the passage 34 is determined based on the light receiving state of the communication detection light B <b> 4 in the light receiving unit 52 of the parent detection unit 50. It is possible to reduce the number of signal lines led out from the child detection units 60 (1) to 60 (3) to the outside, and to reduce the number of signal lines for outputting a detection signal as much as possible. In particular, there is a great advantage that the number of signal lines between the movable movable shelves 30 can be reduced.
[0110]
In addition to the communication detection line, the presence or absence of an object is detected based on the light receiving state of the reflected light from the object in the peripheral detection ranges C (1) to C (4). It is possible to detect various objects.
[0111]
Further, the work is determined by the presence or absence of light blocking in the communication detection light B <b> 1, B <b> 3 at the entrance / exit portion of the work passage 34 and the light receiving state of the reflected light by the object in the peripheral detection ranges C <b> 1 to C <b> 4. Entry or exit from the passage 34 can be distinguished, and the presence or absence of an object in the work passage 34 can be more accurately determined. In this case, the number of entry and exit from the work path 34 is counted, and when the number of entry and exit is the same, it may be determined that there is no object such as a worker in the work path 34. Good. Further, when the work passage 34 is relatively narrow, the light applied to the peripheral detection ranges C <b> 1 to C <b> 4 is reflected by the adjacent moving shelf 30. In this case, the parent detection unit 50 is used. The presence or absence of an object in the work passage 34 may be determined based only on the light receiving state of the communication detection light B <b> 4 <4> in the light receiving unit 52.
[0112]
In addition, since the display light-emitting unit 54 emits light when the detection outputs 1 to 3 are output, a user of the mobile shelf device can conveniently know the detection status in the passage. Note that the display light-emitting unit 54 may emit light based on the determination state of the determination unit 42.
[0113]
Further, in the present embodiment, a function of irradiating the communication detection lights B (1) to B (4) and a function of irradiating light to the peripheral detection ranges C (1) to C (4) with each light emitting unit 51, 61. However, separate light emitting means may be provided for each of these functions. Each of the light receiving units 52 and 62 has a function of receiving the communication detection lights B (1) to B (4), a function of receiving the reflected light, a function of receiving the answerback light signal, the object detection light signal, and the like. However, separate light receiving means may be provided for each of these functions. In these cases, for example, the wavelengths of the light emitted to the communication detection lights B (1) to B (4) and the peripheral detection ranges C (1) to C (4) may be changed. However, by giving a plurality of functions to one light emitting unit or light receiving unit, the configuration can be simplified.
[0114]
【The invention's effect】
As described above, according to the object detection device according to claim 1 of the present invention, the presence or absence of an object in a predetermined detection range is detected based on the light receiving state of the communication detection light in the light receiving unit of the parent detection unit. It is possible to reduce the number of signal lines led out from each child detection unit to the outside, and to reduce the number of signal lines for outputting a detection signal as much as possible.
[0115]
According to the second aspect of the present invention, the presence or absence of an object in the passage is determined based on the light receiving state of the communication detection light in the light receiving unit of the parent detection unit. The number of signal lines for outputting the detection signal can be reduced as much as possible. In particular, there is a great advantage that the number of signal lines between movable movable shelves can be reduced.
[0116]
Furthermore, according to the third aspect of the present invention, the presence or absence of an object can be detected based on the light receiving state of the reflected light from the object in the peripheral detection range other than the communication detection line, and the object can be detected over a wider area and with a relatively simple configuration. Can be detected.
[0117]
According to the fourth aspect of the present invention, it is possible to determine whether an object enters or exits a passage between movable shelves, and it is possible to more accurately determine whether an object exists in a passage.
[0118]
Further, according to the fifth aspect of the present invention, the oblique detection line connecting the light emitting unit and the light receiving unit obliquely moves with the movement of the movable shelf. An object can be detected on the movement locus of the oblique detection line. Therefore, it is possible to detect a wide range and fine objects with a relatively simple configuration.
[0119]
According to the invention described in claim 6, a user or the like of the mobile shelf device can know whether or not the presence or absence of an object in the passage is detected.
[0120]
According to the invention described in claim 7, it is possible for a user or the like in the passage to know whether or not the self is detected.
[Brief description of the drawings]
FIG. 1 is a schematic diagram showing an entire configuration of an object detection device according to a first embodiment of the present invention.
FIG. 2 is a block diagram illustrating an electrical configuration of a parent detection unit.
FIG. 3 is a block diagram illustrating an electrical configuration of a child detection unit.
FIG. 4 is a perspective view showing an entire configuration of a mobile shelf device according to a second embodiment of the present invention.
FIG. 5 is a block diagram showing an electrical configuration of the mobile shelf device.
FIG. 6 is a schematic plan view showing the overall configuration of an object detection device applied to a moving shelf device.
FIG. 7 is a block diagram illustrating an electrical configuration of a parent detection unit.
FIG. 8 is a block diagram illustrating an electrical configuration of a child detection unit.
FIG. 9 is a flowchart for explaining a communication operation from the parent detection unit 50 via each child detection unit.
FIG. 10 is a flowchart for explaining a moving operation of a moving shelf;
FIG. 11 is an explanatory diagram showing a state of entry into a work passage.
FIG. 12 is an explanatory diagram showing a state of entry into a work passage.
FIG. 13 is an explanatory diagram illustrating an irradiation range of oblique communication detection light.
FIG. 14 is an explanatory diagram showing a communication line of oblique communication detection light during movement of the movable shelf.
[Explanation of symbols]
10 Parent detection unit
11 Light emitting unit
12 Light receiving unit
13 Parent communication control unit
20 (1) to 20 (5) Child detection unit
21 Light emitting unit
22 Receiver
23 child communication control unit
30 Moving shelf
30a Passage forming operation switch
34 Work passage
40 Movement control unit
42 Judgment unit
50 Parent detection unit
51 Light emitting unit
52 Receiver
53 Parent communication control unit
54 Light-emitting part for display
60 (1) -60 (3) Child detection unit
61 First light emitting unit
62 Receiver
63 slave communication control unit
64 Second light emitting unit
A-1 to A-6 Communication detection light
B-1 to B-4 Communication detection light
C-1 to C-4 Peripheral detection range
M detection range

Claims (7)

An object detection device for detecting the presence or absence of an object in a predetermined detection range,
A parent detection unit having a light emitting unit for irradiating communication detection light and a light receiving unit for receiving communication detection light,
A plurality of children having a light receiving unit that receives communication detection light, a light emitting unit that emits communication detection light, and a child communication control unit that emits communication detection light from the light emitting unit when the communication detection light is received by the light receiving unit. A detection unit,
With
An optical communication detection line is sequentially established from the light emitting unit of the parent detection unit to the light receiving unit of the parent detection unit via the child detection units in sequence, and the communication detection light passes through the predetermined detection range. Is set as
An object detection device that detects the presence or absence of an object in the predetermined detection range based on a light receiving state of communication detection light in a light receiving unit of the parent detection unit. A plurality of movable shelves are arranged along a predetermined arrangement direction, and by moving each of the movable shelves along the predetermined arrangement direction, a passage is provided between the predetermined movable shelf and the adjacent movable shelf. A moving shelf device to be formed,
A parent detecting unit having a light emitting unit for irradiating communication detection light and a light receiving unit for receiving communication detection light, and a light receiving unit for receiving communication detection light and a light emitting unit for irradiating communication detection light A plurality of child detection units each having a child communication control unit configured to irradiate the communication detection light from the light emitting unit when the communication detection light is received by the light receiving unit. An optical communication detection line is sequentially established through the detection unit to the light receiving section of the parent detection unit, and the communication detection light passes through a passage to be formed between the adjacent movable shelves. Is set,
The presence or absence of an object between the adjacent moving shelves is determined based on the light receiving state of the communication detection light in the light receiving unit of the parent detecting unit, and when it is determined that the object is present, the movement of each of the moving shelves is prohibited. , Moving shelf equipment. The mobile shelf device according to claim 2,
For at least one of the parent detection unit and each of the child detection units,
The light emitting unit irradiates the communication detection light toward the light receiving unit serving as a light receiving destination, and also irradiates the communication detection light to a predetermined peripheral detection range in a passage to be formed between the adjacent movable shelves. Set to
A reflected light receiving unit for receiving light reflected from the light emitting unit toward the peripheral detection range and reflected by an object in the peripheral detection range,
A moving shelf device that determines whether an object exists between the adjacent moving shelves based on a light receiving state of communication detection light in a light receiving unit of the parent detection unit and a light receiving state of reflected light in the reflected light receiving unit. The moving shelf device according to claim 3, wherein
At least one of the light-emitting part of the parent detection unit and the light-emitting part of each of the child detection units irradiates communication detection light so as to pass through an entrance of a passage to be formed between the adjacent movable shelves. And
Based on the light receiving state of the communication detection light passing through the entrance and exit at the light receiving destination and the light receiving state of the reflected light at the reflected light receiving unit, an object enters or enters a passage to be formed between the adjacent moving shelves. A moving shelf device that determines exit. The moving shelf device according to any one of claims 2 to 4, wherein
Between the parent detection unit and the child detection unit, between at least one of the child detection units, communication detection light is emitted along a direction oblique to the moving direction of each of the movable shelves. ,
The light emitting unit that irradiates the communication detection light obliquely irradiates the communication detection light within a range where light can be irradiated toward the light receiving unit that is a light receiving destination from a state where the adjacent movable shelf is closed to an open state. , Moving shelf equipment. It is a moving shelf device according to any one of claims 2 to 5,
A moving shelf device provided with a notifying unit for notifying a detection state of an object in a passage between adjacent moving shelves on each of the moving shelves. The mobile shelf device according to claim 6, wherein
The moving shelf device, wherein the notifying unit is a display unit that can be visually recognized from the inside of the passage between the adjacent moving shelves.

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