JP2006131387A - Moving shelf device and its control method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To prevent a passage between moving shelves from being carelessly closed. <P>SOLUTION: A desired passage 14 is formed by moving an uninterlocked shelf among the respective moving shelves 10. In the respective moving shelves 10, the operation state of an inverter 36 is compared with an existence state of the movement for performing the moving shelves 10, and when detecting the movement of the moving shelves 10 in a state of stopping the operation of the inverter 36, the movement of the whole moving shelves 10 is stopped by determining as abnormal operation. In the respective moving shelves 10, the operation state of the inverter 36 is compared with an interlock state, and when determining that the inverter 36 operates in spite of being the interlock state, the movement of the whole moving shelves 10 is stopped. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a technique of moving a plurality of aligned movable shelves in the alignment direction and appropriately forming a passage between the respective movable shelves.

  As a conventional moving shelf device, there is one in which a plurality of moving shelves are arranged in a movable manner and a moving motor is mounted on each moving shelf. And each motor shelf is moved by controlling each motor so that a work path may be formed between desired mobile shelves.

  Moreover, in the above moving shelf apparatus, the detection sensor which detects the presence or absence of the object between work paths is provided. When an object in the work path is detected through the detection sensor when each moving shelf moves, the movement of the moving shelves on both sides of the work path is prohibited.

  As a prior art related to the invention of the present application, for example, there is one described in Patent Document 1.

JP-A-8-12024

  By the way, in the moving shelf apparatus as described above, when the presence of an object in the work passage is detected, the movement of each moving shelf is surely stopped so that the work passage is not inadvertently closed. There is a need to.

  Then, an object of this invention is to provide the technique which can prevent the channel | path between moving shelves from closing carelessly.

  A moving shelf apparatus according to a first aspect of the present invention is provided with a plurality of moving shelves arranged in a predetermined arrangement direction so as to be movable, and each moving shelf, and each moving shelf is connected to the predetermined moving shelf. A plurality of shelf moving means for moving along the arrangement direction, a shelf status detecting means for detecting the peripheral status of each moving shelf, and moving for each moving shelf based on the detection result of the shelf status detecting means And a shelf controller for detecting whether or not each of the movable shelves has moved. Detecting means, and for each moving shelf, the operation state of the shelf moving means or the contents of the movement permission / refusal determination is compared with the presence / absence of movement based on the detection result of the shelf movement detecting means, and both are inconsistent If it is determined that The movement of Dotana those stopping.

  A movable shelf apparatus according to a second aspect of the present invention is provided with a plurality of movable shelves arranged to be movable along a predetermined arrangement direction, each movable shelf, and each movable shelf is connected to the predetermined shelf. A plurality of shelf moving means for moving along the arrangement direction, a shelf status detecting means for detecting the peripheral status of each moving shelf, and moving for each moving shelf based on the detection result of the shelf status detecting means Movement control means for moving each of the moving shelves by driving each of the shelf moving means based on the determination result of the movement permission / inhibition, and for each of the moving shelves, The operation state is compared with the movement permission determination contents, and when both are determined to be inconsistent, the movement of all the movement shelves is stopped.

  In these cases, as an operation for stopping the movement of all the movable shelves, it is preferable to perform an operation for blocking the common power supply path to all the respective shelf moving means.

  Moreover, the control method of the movable shelf apparatus which concerns on the 3rd aspect of this invention arrange | positions several movable shelves along the predetermined sequence direction, and moves each said movable shelf along the said predetermined sequence direction A method for controlling a moving shelf apparatus for forming a single or a plurality of passages between the respective moving shelves, comprising: determining whether each moving shelf is permitted to move; and whether or not each moving shelf is moved. A step of detecting, a step of determining whether or not the mobile shelf that is not permitted to move has moved, and a case where it is determined that the mobile shelf that is not permitted to move has been moved. And a step of stopping the movement.

  Furthermore, in the control method of the movable shelf apparatus according to the fourth 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. By this, it is the control method of the movement shelf apparatus which forms a single or a plurality of passages between each of the movement shelves, and the step for judging whether movement of each movement shelf is permitted, and for moving each movement shelf A step of acquiring an operation state of the shelf moving means, a step of determining whether or not the shelf moving means is operating for the moving shelf that is not permitted to move, and the movement shelf that is not permitted to move, Stopping the movement of all the movable shelves when it is determined that the shelf moving means is operating.

  According to the movable shelf apparatus according to the first aspect of the present invention, first, in order to move the movable shelf among the movable shelves, the movement is not permitted for a specific movable shelf. Even so, other moving shelves can be moved, and efficient shelves can be moved. Then, for each moving shelf, when the operation state of the shelf moving means or the movement permission / refusal determination content is compared with the movement presence / absence state based on the detection result of the shelf movement detecting means, and when both are determined to be inconsistent The movement of all the moving shelves can be stopped. Therefore, it is possible to prevent the passage between the moving shelves from being inadvertently closed. In particular, a situation in which a specific mobile shelf moves due to the force from another mobile shelf applied to the specific mobile shelf even though the movement is not permitted or the operation is stopped. On the other hand, it is possible to effectively cope with the movement of all the moving shelves.

  According to the movable shelf apparatus according to the second aspect of the present invention, for each movable shelf, the operation state of the shelf moving means is compared with the movement permission / refusal determination contents, and if both are determined to be inconsistent, Since the movement of the shelves is stopped, it is possible to prevent the passage between the moving shelves from being inadvertently closed. In particular, it is possible to effectively cope with the inconsistency between the determination result of the movement permission / inhibition and the operation state of the shelf moving unit controlled by the movement control unit by stopping the movement of all the moving shelves.

  In these cases, as an operation for stopping the movement of all the moving shelves, if the operation for shutting off the common power supply path to all the respective shelf moving means is performed, all the moving shelves are more reliably stopped. be able to.

  Furthermore, according to the control method of the movable shelf apparatus according to the third aspect of the present invention, when it is determined that the movable shelf that is not permitted to move has been moved, the movement of the movable shelf is stopped. It is possible to prevent the passage between them from being inadvertently closed.

  Moreover, according to the control method of the movable shelf apparatus according to the fourth aspect of the present invention, when the shelf moving means is determined to be operating for the movable shelf that is not permitted to move, all the movements are performed. Since the movement of the shelves is stopped, it is possible to prevent the passage between the moving shelves from being inadvertently closed.

  Hereinafter, a movable shelf device and a control method thereof according to an embodiment of the present invention will be described.

  FIG. 1 is a diagram illustrating an overall schematic configuration of a movable shelf apparatus. This moving shelf apparatus includes a plurality of moving shelves 10 (only three are shown in FIG. 1) arranged along a predetermined arrangement direction.

  Rails 15 are laid along a predetermined direction on the floor surface of the area where the movable shelf 10 is installed, and the movable shelves 10 are reciprocally moved along the rail 15. Each movable shelf 10 is provided with a drive motor 37 (see FIG. 2). The drive motor 37 drives a wheel on the rail 15 so that each movable shelf 10 moves on the rail 15 in the predetermined range. It is the structure which reciprocates along the arrangement direction.

  Further, a passage forming switch 11 for instructing the formation of the work passage 14 is provided on one outer side surface of each movable shelf 10. Then, by operating one of the passage forming switches 11 among them, each moving shelf 10 automatically moves, and a predetermined moving shelf 10 corresponding to the one passage forming switch 11 and the moving shelf 10 adjacent thereto. In the meantime, a working passage 14 is formed. A plurality of work paths 14 can be formed by appropriately setting the open width of the work path 14 (see FIG. 8).

  FIG. 2 is a block diagram showing an electrical configuration of the moving shelf device.

  The mobile shelf device includes a main control unit 20 and a plurality of sub control units 30, and the main control unit 20 and the sub control unit 30 are configured to be able to communicate with each other via a predetermined communication line 18. Yes. For example, the main control unit 20 is provided on any one of the moving shelves 10, and each sub-control unit 30 is provided on each moving shelf 10. The main control unit 20 controls the entire moving shelf device, and each sub-control unit 30 performs individual control of each moving shelf 10. Of course, the present invention is not limited to the above example, and the main control unit 20 is omitted, and the control units provided in the respective moving shelves 10 perform mutual communication to perform mutual control, while controlling the entire moving shelf device and each moving shelf. In addition, a single centralized control unit that performs centralized control of the entire apparatus and control of each movable shelf 10 may be provided in any one movable shelf 10 or other locations. It may be provided.

  The main control unit 20 is constituted by, for example, a general computer including a CPU, a ROM, a RAM, and the like, and performs operation control of the entire apparatus according to a software program stored in advance. The main control unit 20 in the present embodiment receives, for example, a passage formation signal, an interlock signal, a shelf interval detection signal, and the like, which will be described later, from the sub-control unit 30 of each moving shelf 10, and moves the moving shelf 10 and the movement target. The moving direction of the shelf 10 is determined. And the main control part 20 gives the instruction | command required for channel | path formation with respect to the sub-control part 30 of each movement shelf 10 according to the said determination content.

  Further, the main control unit 20 receives an emergency stop signal from any of the sub-control units 30 and supplies it to the power supply circuit unit 50.

  The moving shelf apparatus includes a power supply circuit unit 50 for supplying power to the driving motor 37 of each moving shelf 10. The power supply circuit unit 50 has a function of cutting off power supply to each drive motor 37 in response to an emergency stop command from the main control unit 20. For example, the power supply circuit unit 50 is incorporated in any one of the movable shelves 10.

  The sub-control unit 30 is configured by, for example, a general computer including a CPU and the like, and controls each movable shelf 10 according to a software program stored in advance.

  More specifically, the sub control unit 30 can communicate with the other sub control unit 30 and the main control unit 20 via the communication line 18. In addition, signals from the passage formation switch 11, the shelf peripheral state detection unit 32, and the shelf interval detection unit 34 are input to the sub control unit 30. Further, the control signal from the sub-control unit 30 is output to the inverter 36 and the interlock signal from the sub-control unit 30 is output to the abnormal operation detection unit 40.

  In this embodiment, the combination of the main control unit 20 and each sub-control unit 30 determines whether or not each moving shelf 10 is allowed to move (whether to apply an interlock), and each moving shelf based on the determination result. A movement control means for controlling 10 movements is configured.

  The shelf interval detection unit 34 is a means for detecting an interval dimension between adjacent moving shelves 10 and is realized by a known configuration using an encoder or the like, or a photoelectric distance sensor or the like. The passage formation switch 11 is a means for instructing the formation of the work passage 14, and is constituted by, for example, a general push switch.

  Then, the shelf interval detection signal from the shelf interval detection unit 34 and the passage formation signal from the passage formation switch 11 are input to the sub-control unit 30. Further, the shelf interval detection signal and the passage formation signal are also given to the main control unit 20 via the communication line 18. Based on these signals, the main control unit 20 determines the moving shelf 10 to be moved, the moving direction of the moving shelf 10, and the like, and the contents of these determinations are again sub-controlled for each moving shelf 10 through the communication line 18. The unit 30 is instructed.

  Further, the sub control unit 30 controls the inverter 36 and drives the drive motor 37 in accordance with a command from the main control unit 20. Thereby, the movable shelf 10 moves toward a predetermined direction at a predetermined timing. Then, for example, when there is a moving shelf 10 stopped in front of the moving direction, and the timing of contact with the moving shelf 10 or the interval between the designated moving shelves 10 becomes substantially the same as the commanded shelf interval, the sub-control The unit 30 stops the movement of the moving shelf 10. As a result, a work path 14 is formed between the predetermined moving shelves 10.

  The inverter 36 and the drive motor 37 are provided on each movable shelf 10 and are supplied with power via a common power line 19. The inverter 36 drives the drive motor 37 in accordance with the control by the sub-control unit 30, thereby moving each movable shelf 10 along a predetermined arrangement direction. That is, the inverter 36 and the drive motor 37 function as a shelf moving means for moving each movable shelf individually along a predetermined arrangement direction. The inverter 36 outputs an operation state signal indicating whether or not the inverter 36 is in operation as a signal indicating the operation state as the shelf moving means.

  The shelf surrounding state detection unit 32 is a means for detecting the surrounding state of each moving shelf 10, in particular, the presence or absence of an object in the passage 14 between the moving shelves 10. The shelf peripheral state detection unit 32 is realized using, for example, a sensor that detects the presence or absence of an object between the moving shelves 10 using a transmission type or reflection type optical sensor, a contact type sensor, and the like. Then, the sub-control unit 30 determines whether or not the movable shelf 10 is permitted to move based on the detection signal from the shelf peripheral condition detection unit 32, and when it is determined that the movement is not permitted, the sub-control unit 30 applies an interlock. For example, an interlock is applied when it is determined that there is an abnormality in the peripheral state of the movable shelf 10 (particularly, the presence of an object between the movable shelves 10) based on the detection signal from the shelf peripheral state detection unit 32. When in the interlock state, the sub control unit 30 outputs an interlock signal to the main control unit 20 and the abnormal operation detection unit 40 and controls the inverter 36 to stop the drive motor 37. That is, the sub-control unit 30 also functions as a movement permission / rejection determination unit that determines whether or not the movement is permitted for each moving shelf 10 based on the detection result of the shelf surrounding state detection unit 32. The function as the movement permission / rejection determination unit may be configured by a control unit different from the sub-control unit 30.

  The abnormal operation detection unit 40 is configured by, for example, a general computer including a CPU and the like, and detects abnormal operation according to a predetermined software program.

  More specifically, an interlock signal from the sub-control unit 30, an operation state signal from the inverter 36, and a shelf movement detection signal from the shelf movement detection unit 46 are input to the abnormal operation detection unit 40. The abnormal operation detection unit 40 determines the presence / absence of an abnormal operation of the movable shelf 10 based on the interlock signal, the operation state signal, and the shelf movement detection signal.

  Here, it is determined that the operation is abnormal in the following two cases.

  First, it is determined that there is an abnormal operation when it is determined that the interlock state or the operation state of the inverter 36 (contents for determining whether or not to allow movement) and the presence / absence of shelf movement are inconsistent. Here, when it is determined that the operation state of the inverter 36 and the presence / absence state of the shelf movement are inconsistent, more specifically, in a state where a signal indicating that the operation is stopped is output from the inverter 36, When the movement of the movable shelf 10 is detected, it is determined that the operation is abnormal.

  Note that either the interlock state or the operation state of the inverter 36 may be set as a comparison target. Of course, if the former is used as a comparison target, if a forcible moving means that can move each moving shelf 10 regardless of the presence or absence of the interlock is incorporated, the moving shelf is in spite of being in the interlock state. Ten movements are detected, and it is determined that the operation is abnormal. In order to avoid this, it is preferable to determine the consistency between the operation state of the inverter 36 and the presence / absence state of the shelf movement.

  Second, when it is determined that the interlock state and the operation state of the inverter 36 are inconsistent, it is determined that there is an abnormal operation. More specifically, it is determined that the operation is abnormal when the inverter 36 outputs a signal indicating that the operation is being performed in spite of the interlock state. That is, if it is determined that the predetermined movable shelf 10 is in the interlocked state, the movable shelf 10 should be controlled to stop if it was originally. However, when the inverter 36 of the movable shelf 10 in the interlocked state is operated due to some inconvenience, this is detected as an abnormal operation.

  When the abnormal operation detection unit 40 detects an abnormal operation, an emergency stop signal is given to the main control unit 20. Receiving this, the main control unit 20 controls the power supply circuit unit 50 to shut off the power supply path to the inverters 36 and the drive motors 37 in all the movable shelves 10. Thereby, the movement of all the movement shelves 10 is forcibly stopped.

  In the present embodiment, the power supply is cut off by one power supply circuit unit 50 serving as a supply source to each inverter 36 and drive motor 37, but an emergency stop power supply circuit is installed in each movable shelf 10. Then, when an emergency stop signal is transmitted from a predetermined moving shelf 10, the power supply to the inverter 36 and the driving motor 37 may be cut off by the emergency stop power circuit of each moving shelf 10.

  3 and 4 are diagrams illustrating an example of the shelf movement detection unit 46.

  That is, as shown in FIG. 3, the upper and lower rows of count markers 47 are attached along the rail 15. The count marker 47 is a reflective member such as a reflective tape, and a plurality of strip-shaped count markers 47 having a predetermined length L are attached to the upper side of the rail 15 with a constant interval L having the same dimension as the predetermined length L. ing. Also, a plurality of strip-shaped count markers 47 having a fixed length L are attached to the lower side of the rail 15 with a fixed interval L. On the upper side and the lower side of the rail 15, the count marker 47 is attached so as to be shifted by a half L / 2 of the predetermined length L.

  Thus, the upper and lower two rows of count markers 47 repeat a predetermined pattern along the rail 15.

  In addition, on each movable shelf 10 side, two upper and lower count sensors 48 corresponding to these upper and lower count markers 47 are provided. The count sensor 48 is, for example, a reflective optical sensor, and detects the presence or absence of reflected light from the count marker 47 as the movable shelf 10 moves.

  The count marker 47 may be attached to a portion other than the rail 15, for example, a floor surface or a wall surface, or a plate attached to these. In short, it may be attached so as to be arranged along the moving direction of the moving shelf 10.

  FIG. 5 is a diagram showing the relationship between the count marker 47 attached to the rail 15 and the output state of the count sensor 48 as the moving shelf 10 moves.

  For example, when the movable shelf 10 is at the position P (0) in FIG. 5, the upper count sensor 48 detects reflected light and outputs an ON signal, and the lower count sensor 48 detects reflected light. An off signal is output. Thereafter, when the movable shelf 10 moves by a predetermined amount M, the upper count sensor 48 alternately outputs an off signal and an on signal. The lower count sensor 48 alternately outputs an on signal and an off signal. Then, compared with the pattern of the count marker 47 in the upper and lower two rows at the position P (0), the same output state as the position P (0) at the position P (1) exhibiting the same pattern, that is, the upper count sensor An ON signal is output from 48 and an OFF signal is output from the lower count sensor 48. For example, when the predetermined length L is set to 40 mm, the same output state is obtained again after moving 60 to 80 mm.

  In this way, when the on / off output of both count sensors 48 in a predetermined stop state changes and the output state again becomes the same, the movement of the movable shelf 10 is detected.

  In addition to the above configuration, various movement detection means such as an encoder can be adopted as the shelf movement detection unit 46.

  The operation of the moving shelf apparatus configured as described above will be described.

  FIG. 6 is a flowchart for explaining the path forming operation of the moving shelf device.

  First, one or a plurality of passages 14 are formed between the movable shelves 10. In this state, it is assumed that the passage forming switch 11 corresponding to a predetermined moving shelf 10 is turned on (see arrow A in FIG. 8).

  Then, in step S1, the presence / absence of the interlocked movable shelf 10 is determined. Here, if it is determined that there is no interlocked moving shelf 10, all the moving shelves 10 are set as moving targets in step S2.

  On the other hand, when it is determined in step S1 that there is an interlocked moving shelf 10, the moving shelf 10 to be moved is determined except for the interlocked moving shelf 10 (FIGS. 8 and 8). 11).

  In step S3, the movement contents of each moving shelf 10 are determined within the movement target. That is, in order to form a work path at a position corresponding to the turned-on path forming switch 11, the narrowing of the moving shelf 10 to be actually moved, the moving direction of each moving shelf 10, and the like are determined. In addition, narrowing down of the movable shelf 10 to be actually moved may be performed based on any standard. For example, the moving shelf 10 to be actually moved may be narrowed down so as to close the passage 14 closest to the passage 14 to be formed, or moved within a certain range before and after the passage 14 to be formed. The shelves 10 may be narrowed down. Moreover, the moving direction of each moving shelf 10 is determined in the direction which closes the nearby work path 14, for example.

  In step S <b> 4, each drive motor 37 is driven under the control of the inverter 36 to move each movable shelf 10, and the work path 14 is formed between the desired movable shelves 10. Thereby, the passage formation process is completed.

  8 and 9 show an example of determining the moving shelf 10 to be moved except for the interlocked moving shelf 10 in step S5.

  That is, when the interlock is generated only on one side of the position instructed to form the passage (see arrow A), the moving shelf 10 to be moved can be determined as follows. In FIG. 8, when any object X exists between the fourth and fifth moving shelves 10 from the left side, the presence of the object X causes the fourth and fifth moving shelves 10 to be interlocked. It becomes the state. In this case, on the basis of the interlocked moving shelf 10, the plurality of moving shelves 10 are divided into the first to third moving shelves 10 and the sixth to eleventh moving shelves 10, and the passage 14 to be formed is formed. The 6th to 11th moving shelves 10 including the moving shelf 10 are determined as moving objects. Further, the sixth moving shelf 10 that is in contact with the interlocked fifth moving shelf 10 does not contribute to the formation of a new passage, and is therefore excluded from the movement target. As a result, the seventh to eleventh moving shelves 10 are determined as moving objects.

  In this case, in step S3, the work path 14 is formed at a desired position by moving the seventh to eleventh movable shelves 10. For example, in FIG. 9, the work path 14 is formed between the desired moving shelves 10 by moving the seventh moving shelf 10 to the left and moving the eighth to eleventh moving shelves 10 to the right. . Note that which moving shelf 10 is actually moved is appropriately determined according to the position, width, and the like of the existing work path 14.

  FIG.11 and FIG.12 has shown the other example which determines the moving shelf 10 used as a moving object except the interlocked moving shelf 10 in step S5.

  That is, when interlocks are generated on both sides of the position where passage formation is instructed (see arrow A), the moving shelf 10 to be moved can be determined as follows. In FIG. 11, when there is an object X between the fourth and fifth movable shelves 10 from the left and between the tenth and eleventh movable shelves 10, the presence of the object X causes the fourth And the fifth movable shelf 10, and the tenth and eleventh movable shelves 10 are interlocked. In this case, the sixth to ninth moving shelves 10 existing between the interlocked moving shelves 10 are determined as moving objects. Further, the sixth moving shelf 10 that is in contact with the interlocked fifth moving shelf 10 does not contribute to the formation of a new passage, and is therefore excluded from the movement target. As a result, the seventh to ninth movement shelves 10 are determined as movement targets.

  In this case, in step S3, the work path 14 is formed at a desired position by moving the seventh to ninth movable shelves 10. For example, in FIG. 11, the work path 14 is formed between the desired moving shelves 10 by moving the seventh moving shelf 10 to the left and moving the eighth and ninth moving shelves 10 to the right. . Of course, which moving shelf 10 is actually moved is appropriately determined according to the position and width of the existing work path 14.

  FIG. 7 is a flowchart showing the operation of the abnormal operation detection unit 40.

  After starting the operation, the abnormal operation detection unit 40 determines consistency between the operation state of the inverter 36 and the shelf movement state, as shown in step S11. If it is determined in step S11 that there is a mismatch, that is, if the movement of the moving shelf 10 is detected while the signal indicating that the operation is stopped is output from the inverter 36, the abnormal operation is performed. It proceeds to step S13 and outputs an emergency stop signal.

  On the other hand, if it is determined in step S11 that there is a match, the process proceeds to step S12 to determine consistency between the interlock state and the operation state of the inverter 36. If it is determined in step S12 that there is a mismatch, that is, if the inverter 36 outputs a signal indicating that it is operating despite being in the interlock state, it is determined that the operation is abnormal. . And it progresses to step S13 and outputs an emergency stop signal.

  If it is determined in step S12 that there is consistency, the process returns to step S11 and the subsequent operations are repeated.

  In addition, you may perform the process of the said step S11 and step 12 reversely.

  The process of step S11 is effective for the following emergency state. That is, as shown in FIG. 10, an object Y exists between the sixth and seventh moving shelves 10 in a manner that cannot be normally assumed, and the presence of the object Y is detected by the shelf peripheral condition detection unit 32. Suppose you couldn't. The other states are almost the same as those shown in FIG. Then, as described with reference to FIG. 9, the seventh movable shelf 10 is moved to the left, and the eighth to eleventh movable shelves 10 are moved to the right, so that the desired movable shelf 10 can be moved. Thus, the working passage 14 is formed. In this case, even if the fifth and sixth movable shelves 10 are still stopped, the seventh movable shelf 10 pushes the fifth and sixth movable shelves 10 through the object Y to the left. Will be moved to. As a result, the passage 14 between the fourth and fifth movable shelves 10 is inadvertently closed. In particular, in the configuration in which the moving shelf 10 that is the moving target is controlled to move until it contacts the moving shelf 10 ahead in the moving direction, the sixth and seventh moving shelves 10 are Do not touch. For this reason, the seventh movable shelf 10 continues to push the first to sixth movable shelves 10 indefinitely.

  On the other hand, in the process of step S11, when the interlocked fifth moving shelf 10 is moved by being pushed by another moving shelf 10, an emergency stop signal is output to move all the moving shelves 10. Stop. For this reason, the movement of the fifth moving shelf 10 is also stopped.

  According to the movable shelf apparatus configured as described above, a specific movable shelf 10 is interlocked to form a desired passage 14 by moving each movable shelf 10 that is not interlocked. Even if it is a case, the other movement shelf 10 can be moved and the channel | path 14 can be formed, and efficient shelf movement can be performed. Then, for each moving shelf 10, when the operation state or interlock state of the inverter 36 is compared with the presence / absence state of the movement of the moving shelf 10 based on the detection result of the shelf movement detection unit 46, it is determined that there is a mismatch. That is, when the movement of the movable shelf 10 is detected in the interlock state or the state in which the inverter 36 is stopped, it is determined that the operation is abnormal. And an emergency stop signal can be output and the movement of all the movement shelves 10 can be stopped. Therefore, it is possible to prevent the work path 14 between the moving shelves 10 from being inadvertently closed. In particular, the movement of the specific movable shelf 10 is not permitted or the operation is stopped, but the specific movable shelf 10 is moved due to the force applied from the other movable shelf 10. It is possible to effectively cope with such a situation by stopping the movement of all the movable shelves 10.

  Further, for each movable shelf 10, the operation state of the inverter 36 is compared with the interlock state, and when both are determined to be inconsistent, that is, the inverter 36 operates despite being in the interlock state. It is determined that there is an abnormal condition. And an abnormal stop signal is output and the movement of all the movement shelves 10 is stopped. Therefore, it is possible to prevent the work passage 14 between the moving shelves from being inadvertently closed. In particular, it is possible to effectively cope with inconsistencies between the interlock state and the control contents of the main control unit 20 and the sub control unit 30 based on the interlock state by stopping the movement of all the moving shelves 10.

  In addition, the main control unit 20 and each sub-control unit 30 that control the movement control of each movable shelf 10 and the abnormal operation detection unit 40 that determines an abnormal operation and outputs an abnormal stop signal are realized by different control means. Therefore, it is possible to deal with abnormal operations more accurately.

  In the present embodiment, for each moving shelf 10, the function of determining the consistency between the operation state or interlock state of the inverter 36 and the presence / absence state of movement of the moving shelf 10 based on the detection result of the shelf movement detection unit 46. The configuration incorporating both (see step S11) and the function for determining the consistency between the operation state of the inverter 36 and the interlock state (see step S12) has been described, but only one of these functions is incorporated. It may also be configured. In particular, the latter function can be applied to various moving shelf apparatuses that move each moving shelf under the condition that they are not interlocked.

  Further, as the operation to stop the movement of all the movable shelves 10, since the power supply circuit unit 50 that is a common power supply route to all the inverters 36 and the drive motor 37 is operated to cut off the power supply, All the movable shelves 10 can be stopped reliably.

It is a figure which shows the whole schematic structure of a movement shelf apparatus. It is a block diagram which shows the electric constitution of a movement shelf apparatus. It is a side view which shows a shelf movement detection part. It is a front view which shows a shelf movement detection part. It is a figure which shows the relationship between a count marker and the output state of the count sensor accompanying the movement of a movement shelf. It is a flowchart for demonstrating the channel | path formation operation | movement of a movement shelf apparatus. It is a flowchart which shows operation | movement of an abnormal operation detection part. It is explanatory drawing which shows the example which determines the movement shelf used as a movement object except the interlocked movement shelf. It is explanatory drawing which shows the state after a movement in the example shown in FIG. It is explanatory drawing which shows the example which the interlocked movement shelf moves by being pushed by the other movement shelf. It is explanatory drawing which shows the other example which determines the movement shelf used as a moving object except the interlocked movement shelf. It is explanatory drawing which shows the state after a movement in the example shown in FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Moving shelf 11 Passage formation switch 14 Work path 20 Main control part 30 Sub control part 32 Shelf peripheral condition detection part 34 Shelf space | interval detection part 36 Inverter 37 Drive motor 40 Abnormal operation detection part 46 Shelf movement detection part 50 Power supply circuit part

Claims (5)

A plurality of movable shelves arranged movably along a predetermined arrangement direction;
A plurality of shelf moving means provided on each of the movable shelves, for moving the movable shelves along the predetermined arrangement direction;
Shelf status detection means for detecting the surrounding status of each of the movable shelves;
Based on the detection result of the shelf status detection means, whether or not to allow movement is determined for each of the moving shelves, and the movement of the moving shelves among the moving shelves is moved by driving the respective shelf moving means. Movement control means;
Shelf movement detecting means for detecting the presence or absence of movement of each moving shelf;
With
For each of the moving shelves, comparing the operating state of the shelf moving means or the movement permission determination content with the presence / absence state of movement based on the detection result of the shelf movement detecting means, when both are determined to be inconsistent, A moving shelf device for stopping movement of all the moving shelves. A plurality of movable shelves arranged movably along a predetermined arrangement direction;
A plurality of shelf moving means provided on each of the movable shelves, for moving the movable shelves along the predetermined arrangement direction;
Shelf status detection means for detecting the surrounding status of each of the movable shelves;
Based on the detection result of the shelf status detection unit, the movement is determined for each moving shelf, and the movement shelf is moved by driving the shelf moving unit based on the determination result of the movement permission / inhibition. Control means;
With
A moving shelf device that compares the operation state of the shelf moving means and the content of movement permission / prohibition determination for each moving shelf, and stops moving all the moving shelves when both are determined to be inconsistent. It is a movement shelf apparatus of Claim 1 or Claim 2, Comprising:
A moving shelf apparatus that performs an operation of interrupting a common power supply path to all the respective shelf moving means as an operation for stopping the movement of all the moving shelves. 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 to form a single or a plurality of passages between the respective movable shelves. A method for controlling a shelf device,
Determining whether or not each moving shelf is allowed to move; and
Detecting the presence or absence of movement of each moving shelf;
A step of determining whether or not the movement shelf that is not permitted to move has moved;
Stopping the movement of all the moving shelves when it is determined that the moving shelves that are not permitted to move have moved; and
A method for controlling a mobile shelf device comprising: 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 to form a single or a plurality of passages between the respective movable shelves. A method for controlling a shelf device,
Determining whether or not each moving shelf is allowed to move; and
Obtaining an operating state of a shelf moving means for moving each moving shelf;
A step of determining whether or not the shelf moving means is operating for the moving shelf that is not permitted to move;
For the moving shelf that is not permitted to move, when it is determined that the shelf moving means is operating, stopping the movement of all the moving shelves;
A method for controlling a mobile shelf device comprising:

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