JP2009089915A - Obstacle detector of movable shelf equipment - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an obstacle detector of movable shelf equipment, capable of reducing wiring costs and wiring space. <P>SOLUTION: In the obstacle detector for detecting obstacles present in work spaces 5<SB>1</SB>-5<SB>4</SB>formed between the respective shelves of the movable shelf equipment wherein the movable shelves 3<SB>1</SB>-3<SB>3</SB>are disposed, the obstacle detector is provided with a plurality of obstacle detection sensors 6<SB>11</SB>-6<SB>1n</SB>and 7<SB>11</SB>-7<SB>1n</SB>formed so as to have the routes of optical signals between the adjacent shelves. The plurality of obstacle detection sensors are serially connected and disposed to the adjacent shelves so that electric signals between the obstacle detection sensors and the optical signals of the routes that the obstacle detection sensors have are alternately and continuously transmitted in the state that there is no obstacle 15 inside the work space. When at least one route in the plurality of obstacle detection sensors is light-shielded, the presence of the obstacle inside the work space is detected. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to an obstacle detection apparatus for a moving shelf facility that detects an obstacle present in a work space formed between shelves of the moving shelf facility, for example.

  Conventionally, an obstacle existing in a work space such as a work passage formed between shelves is detected in a moving shelf facility including a plurality of moving shelves arranged on a rail so as to be movable along the rail. There is known an obstacle detection device (hereinafter simply referred to as “obstacle detection device”) for a moving shelf facility (see, for example, Patent Document 1). Such an obstacle detection device, particularly when there are obstacles such as people and objects in the work space between the moving shelves that are narrowing while moving the moving shelves or between the fixed shelves and the moving shelves, It is used to prevent this obstacle from being caught. FIG. 7 is a side view schematically showing the structure of a conventional mobile shelf facility to which such an obstacle detection apparatus is applied, and FIG. 8 is a top view thereof.

In this movable shelf facility, a plurality of movable shelves 3 _{1 to} 3 ₃ are movable between the one fixed shelf 1 and the other fixed shelf 2 on the rail in the horizontal direction in the figure by the moving mechanisms 4 ₁ to 4 ₃ . Arranged and configured. By moving these movable shelves 3 _{1 to} 3 ₃ , work spaces 5 _{1 to} 5 ₄ having an arbitrary size are formed.

At the bottom of one of the fixed shelf 1, as shown in FIG. 7, a projector ₆₁ is provided in the lower part of the movable shelves 3 _1, as opposed to the light projector _61, the light receiver 7 ₁ provided It has been. A light projector 6 ₂ is provided below the moving shelf 3 ₁ , and a light receiver 7 ₂ is provided below the moving shelf 3 ₂ so as to face the light projector 6 ₂ . Similarly, a light projector 6 ₃ is provided below the moving shelf 3 ₂ , and a light receiver 7 ₃ is provided below the moving shelf 3 ₃ so as to face the light projector 6 ₃ . Further, the lower portion of the movable rack 3 ₃ has projector 6 ₄ is provided at a lower portion of the other fixed shelf 2 has the light receiver 7 ₄ is provided so as to face the light projector 6 _4. And each of these light projector ₆₁ through _4, the obstacle detection sensor is constituted by four photoelectric sensor pair and each of the light receiver 7 _{1-7 4} opposing. Emitter ₆₁ through 65 ₄ generates an optical signal emitted by power-on. The generated optical signal, the path of the formed optical signals between the light projector ₆₁ through ₄ and the light receiver 7 _{1-7 4,} the light receiver 7 _1-7 as a sensor detecting the beam 8 _{1-8 4} Sent to ₄ .

Emitter ₆₁ is in the actual movable rack system, as shown in FIG. 8, n (n is a positive integer) is composed of the light projector 6 ₁₁ to 6 _1n the light projector 6 _2, n-number of the projector 6 ₂₁ consists to 6 _2n, projector 6 ₃ is composed of n light projector 6 ₃₁ to 6 _3n, projector 6 ₄ is composed of n projector 6 ₄₁ to 6 _4n, which are detection target It arrange | positions at the space | interval according to the magnitude | size of the obstacle 15 to perform, for example, 15 cm space | interval.

The light receiving device 7 _1, in the actual movable rack system, is composed of n light receiver 7 ₁₁ to _7-1n, is disposed so as to face the light projector 6 ₁₁ to 6 _1n, projector 6 ₁₁ - 6 sensor detection beam 8 ₁₁ to 8 _1n output from _1n are respectively received by the light receiver 7 ₁₁ to _7-1n. The sensor light receiver 7 ₂ is composed of n light receiver 7 ₂₁ to _7-2n, is disposed so as to face the light projector 6 ₂₁ to 6 _2n, which is output from the projector 6 ₂₁ to 6 _2n The detection beams 8 ₂₁ to 82 _2n are received by the light receivers 7 _{21 to} 72 _2n , respectively. Similarly, the optical receiver 7 ₃ is composed of n light receiver 7 ₃₁ to _7-3n, it is disposed so as to face the light projector 6 ₃₁ to 6 _3n, output from projector 6 ₃₁ to 6 _3n The sensor detection beams 8 ₃₁ to 8 _3n are received by the light receivers 7 _{31 to} 7 _3n , respectively. Furthermore, the sensor light receiver 7 ₄ is composed of n light receiver 7 ₄₁ to _7-4n, are arranged so as to face the light projector 6 ₄₁ to 6 _4n, which is output from the projector 6 ₄₁ to 6 _4n detection beam 8 ₄₁ to 8 _4n are respectively received by the light receiver 7 ₄₁ to _7-4n.

FIG. 9 is a diagram showing the arrangement and connection relationship of the obstacle detection apparatus applied to such a conventional mobile shelf facility. In FIG. 9, in order to avoid complexity of the drawing shows only a part of the device mounted in the device with the movable shelf 3 ₁ mounted on one of the fixed shelf 1, the movable shelf 3 ₁ The other parts, the movable shelves 3 _{2 to} 3 ₃ and the other fixed shelf 2 are arranged and connected in the same manner as described above.

One fixed shelf 1 is provided with n projectors 6 _{11 to} 61 _n and a sensor control device 9. The n projectors 6 _{11 to} 61 _n are connected to the sensor control device 9 by wiring. In the sensor control device 9, when the power is turned on, the n projectors 6 _{11 to} 6 _1n emit light to generate sensor detection beams 8 ₁₁ to 8 _1n .

The moving shelf 3 ₁ is provided with n light receivers 7 _{11 to} 7 _1n , a sensor control device 10, and a control device 11. The n light receivers 7 _{11 to} 7 _1n are connected to the sensor control device 10 by wiring, and the sensor control device 10 is connected to the control device 11 and the sensor control device 9 of one fixed shelf 1 by wiring. Yes. The n light receivers 7 _{11 to} 7 _1n output a low-level control output signal when an optical signal (sensor detection beams 8 ₁₁ to 8 _1n ) is input, and a high-level control output otherwise. Output a signal.

The sensor control device 10 checks whether each of the control output signals sent from the _n light receivers 7 _{11 to} 71 _n is at a low level or a high level, and all the control output signals are at a low level. In this case, it is determined that no obstacle 15 exists in the work space.

On the other hand, the sensor control apparatus 10 determines that the obstacle 15 exists in the work space when at least one of the control output signals transmitted from the _n light receivers 7 _{1 to} 7 _n is at a high level. . Further, the control unit 11, in response to a signal sent from the sensor control unit 10, for example, stops the operation of the moving mechanism 4 _1. Thus, for example, as shown in FIGS. 7 and 8, if the obstacle 15 is present on any of the working space 5 ₁ to 5 _4, movement of the moving rack 3 ₁ to 3 ₃ are stopped.
JP 2004-73257 A (page 4-5, FIGS. 1, 4 and 5)

However, in the above-described conventional obstacle detection device, wiring from the sensor control device 9 to the n projectors 6 _{11 to} 61 _n and from the sensor control device 10 to the n light receivers 7 _{11 to} 71 _n are individually provided. Since this is necessary and control for each moving shelf is necessary, the number of wirings becomes enormous. As a result, there is a problem that the wiring work takes a lot of time and the total wiring length becomes considerably long and the wiring cost becomes enormous. In addition, since a large number of wirings are required, there is a problem that a large wiring space is required.

  An object of the present invention is to provide an obstacle detection device capable of reducing wiring cost and wiring space.

  An obstacle detection apparatus for a moving shelf facility according to claim 1 of the present invention is an obstacle detection device that detects an obstacle present in a work space formed between shelves of a moving shelf facility in which movable shelves are arranged. In the apparatus, the obstacle detection device includes a plurality of obstacle detection sensors formed so as to have optical signal paths between adjacent shelves, and the plurality of obstacle detection sensors include obstacles in the work space. A plurality of obstacles are connected in series and arranged on adjacent shelves so that an electrical signal between obstacle detection sensors and an optical signal of a path of the obstacle detection sensor are alternately and continuously transmitted in a state where no obstacle is detected. It is characterized in that the presence of an obstacle in the work space is detected by shielding at least one path among the object detection sensors.

  As described above, since the plurality of obstacle detection sensors are connected in series and arranged between the adjacent shelves, the electrical signal between the obstacle detection sensors and the obstacle detection sensor are displayed in a state where no obstacle exists in the work space. The optical signal of the path it has is transmitted alternately and continuously, and the transmission is interrupted when there is an obstacle in the work space. Therefore, it is possible to detect the presence or absence of an obstacle in the work space. In this case, signal wiring for connecting a plurality of obstacle detection sensors in series only needs to be provided between the obstacle detection sensors, and the wiring cost and wiring space can be reduced by considerably shortening the total wiring length.

  According to claim 2 of the present invention, there is provided an obstacle detection device for moving shelf equipment according to claim 1, wherein each of the plurality of obstacle detection sensors includes a projector and a light receiving device. The transmitter and receiver of the photoelectric sensor are provided via either a path from one shelf to the other shelf or a path from the other shelf to one shelf. It is characterized by being arranged on adjacent shelves so as to be transmitted.

  As described above, since each of the plurality of obstacle detection sensors is constituted by a transmissive photoelectric sensor including a projector and a light receiver, a widespread and inexpensive obstacle detection sensor can be used and is inexpensive. An obstacle detection device can be provided.

  According to a third aspect of the present invention, there is provided the obstacle detection device for a moving shelf facility according to the first aspect, wherein each of the plurality of obstacle detection sensors includes a light emitter / receiver. And a reflector-type photoelectric sensor having a reflector. The light emitter / receiver and the reflector have a path in which an optical signal returns from one shelf to the other shelf to one shelf or from the other shelf to one shelf. It arrange | positions at the adjacent shelf so that it may transmit via either of the path | routes which return to a shelf, It is characterized by the above-mentioned.

  As described above, each of the plurality of obstacle detection sensors is constituted by the reflector type photoelectric sensor including the light emitter / receiver and the reflector, so that the light emitter / receiver requiring wiring is arranged on one shelf, and wiring is unnecessary. A reflector can be placed on the other shelf. Therefore, since the wiring work has only to be performed on one shelf, the labor required for wiring can be reduced.

  Furthermore, the obstacle detection device for a moving shelf facility according to claim 4 of the present invention is the obstacle detection device for a moving shelf facility according to any one of claims 1 to 3, wherein a plurality of obstacle detection devices connected in series are provided. Of the plurality of obstacle detection sensors connected in series, a light projection control signal for controlling light projection or non-light projection is input to the obstacle detection sensor at the first stage among the obstacle detection sensors of By comparing the control output signal output from the object detection sensor with the light projection control signal, it is determined whether or not there is a failure or abnormality setting.

  Thereby, it is possible to easily determine the presence or absence of failure or abnormality setting of the obstacle detection device.

  According to the obstacle detection device according to the present invention, it is possible to provide an obstacle detection device that can reduce wiring cost and wiring space.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In addition, the structure of the mobile shelf equipment to which the obstacle detection device for mobile shelf equipment according to each embodiment described below (hereinafter simply referred to as “obstacle detection device”) is applied is shown in FIGS. 7 and 8. The structure of the conventional moving shelf equipment is the same, and the electrical configuration of the obstacle detecting device applied to the moving shelf equipment is different from that of the conventional obstacle detecting device. Accordingly, the following description will focus on the parts that are different from the conventional obstacle detection device. In addition, the obstacle detection device for the moving shelf equipment according to each embodiment of the present invention is also a person in the working space between the moving shelves or between the fixed shelf and the moving shelf, especially when moving the moving shelf. It is used to prevent the obstacle from being caught when there is an obstacle such as an object. In the following description, obstacles are included in the work space and include various things such as people and objects that may be caught between the moving shelves and between the moving shelves and the fixed shelves when moving the moving shelves. Called.

  First, an obstacle detection apparatus for moving shelf equipment according to a first embodiment of the present invention will be described. The obstacle detection apparatus according to the first embodiment of the present invention uses a transmissive photoelectric sensor as the obstacle detection sensor. The transmissive photoelectric sensor is composed of a projector and a light receiver, and functions as an obstacle detection sensor by forming an optical signal path between the projector and the light receiver.

FIG. 1 is a diagram showing the arrangement and connection relationships of the devices of the obstacle detection device according to the first embodiment of the present invention. In FIG. 1, in order to avoid complexity of the drawing shows only a part of the device mounted in the device with the movable shelf 3 ₁ mounted on one of the fixed shelf 1, the movable shelf 3 ₁ The other parts, the movable shelves 3 _{2 to} 3 ₃ and the other fixed shelf 2 are arranged and connected in the same manner as described above. The one fixed shelf 1, n / 2 pieces of the light projector _{6 11, 6 13, ...,} 6 1n-1, n / 2 pieces of photodetectors _{7 12, 7 14, ...,} 7 1n and control device 11 is provided It has been. Input side of the first-stage light projector 6 ₁₁ is fixed to the low level, are set as light projector 6 ₁₁ is always "projection" state. In addition, the light projectors 6 ₁₃ , 6 ₁₅ ,..., 6 _1n-1 in the subsequent stages are arranged on the upstream side of the signal transmission path by wirings 12 ₁₂ , 12 _{14 ,. 12} , 7 ₁₄ ,..., 7 _1n-2 are respectively connected. Further, the output side of the light receiver 7 _1n of the last stage is connected to the controller 11 by wiring 12 _n.

The control device 11 determines whether or not the obstacle 15 exists in the work space based on the control output signal sent from the light receiver 7 _1n via the wiring 12 _1n . When it is determined that the obstacle 15 exists, the operation of the moving mechanisms 4 ₁ to 4 ₃ is stopped.

The moving shelf 3 ₁ is provided with n / 2 light receivers 7 ₁₁ , 7 ₁₃ ,..., 7 _1n−1 and n / 2 light projectors 6 ₁₂ , 6 _{14 ,.} The projectors 6 ₁₂ , 6 ₁₄ ,..., 6 _1n are light receivers 7 ₁₁ , 7 ₁₃ ,..., 7 arranged on the upstream side of the signal transmission path by wirings 12 ₁₁ , 12 _{13 ,.} Connected to _1n-1 respectively.

FIG. 2 is a block diagram showing an electrical configuration of the obstacle detection apparatus according to the first embodiment of the present invention. In FIG. 2, in order to avoid complexity of the drawing, are shown an electrical configuration of only a part of the movable shelf 3 ₁ and electrical configuration of one of the fixed shelf 1, the movable shelf 3 ₁ Other portions, the movable shelves 3 _{2 to} 3 ₃ and the other fixed shelf 2 have the same electrical configuration as described above.

The n light projectors 6 _{11 to} 6 _1n and the n light receivers 7 _{11 to} 7 _{1n that} are grounded to _one fixed shelf 1 and the movable shelf 31 are connected to a common power line 16 and a 0V line 17. . The input terminal of the light projecting control signal of the first-stage light projector 6 ₁₁ is connected to the 0V line 17.

Each of the n light projectors 6 _{11 to} 61 _n includes a power supply circuit 61, a light projecting control input circuit 62, and a light projecting circuit 63. The power supply circuit 61 generates a predetermined voltage from the power supplied from the power supply line 16 and the 0V line 17 and supplies it to each internal circuit. The light projection control input circuit 62 generates a drive signal from a light projection control signal input from the outside, and sends it to the light projection circuit 63. In the obstacle detection device according to the first embodiment, the light projection control signal is an active signal at a low level. The light projecting circuit 63 includes a light emitting element that converts an electrical signal into an optical signal. The light projecting circuit 63 generates an optical signal by emitting light in accordance with a drive signal sent from the light projecting control input circuit 62, and detects the sensor. Output to the outside as a beam.

Each of the n light receivers 7 _{11 to} 7 _1n includes a power supply circuit 71, a light receiving circuit 72, and a control output circuit 73. The power supply circuit 71 generates a predetermined voltage from the power supplied from the power supply line 16 and the 0V line, and supplies it to each internal circuit. The light receiving circuit 72 includes a light receiving element that converts an optical signal into an electric signal, converts an optical signal input from the outside as a sensor detection beam into an electric signal, and sends the electric signal to the control output circuit 73. The control output circuit 73 amplifies and determines the signal sent from the light receiving circuit 72 and outputs it as a control output signal to the outside.

Next, the operation of the obstacle detection apparatus according to the first embodiment of the present invention configured as described above will be described. When the obstacle detection device is turned on by operating a power switch (not shown), power is supplied to the power supply line 16 and the 0V line 17. This will output the optical signal from the light emitting circuit 63 of the first-stage projector 6 _11, is sent to the light receiver 7 ₁₁ as a sensor detecting the beam 8 _11. The light receiving circuit 72 of the light receiver 7 ₁₁ converts the optical signal transmitted as the sensor detection beam 8 ₁₁ into an electric signal and sends it to the control output circuit 73. The control output circuit 73 amplifies the signal sent from the light receiving circuit 72 to generate a control output signal, sends it as a light projection control signal via the wiring 12 ₁₁ , and sends it to the light projector 6 ₁₂ at the next stage. In the same manner, electrical signals and optical signals are alternately and sequentially transmitted, and the control output signal output from the light receiver _71n at the final stage is sent to the control device 11.

The control device 11 checks whether the control output signal sent from the light receiver _{71 n} is at a low level or a high level. If the control output signal is at a low level, it is determined that there is no obstacle 15 in the work space. Then, control is performed to continue monitoring the obstacle 15. On the other hand, if the control output signal sent from the light receiver _{71 1n} is at a high level, the control device 11 determines that the obstacle 15 exists in the work space and stops the operation of the moving mechanisms 4 ₁ to 4 ₃ . . Thus, for example, as shown in FIGS. 7 and 8, if the obstacle 15 is present on any of the working space 5 ₁ to 5 _4, movement of the moving rack 3 ₁ to 3 ₃ are stopped.

As described above, according to the obstacle detection device according to the first embodiment of the present invention, the signal wiring for connecting a plurality of obstacle detection sensors (a pair of a projector and a light receiver) in series is fixed. In each of the shelves 1 and 2 or the movable shelves 3 _{1 to} 3 ₃ , it is only necessary to be provided between the projector and the light receiver. Therefore, since the number of wirings can be reduced, the time required for wiring work can be shortened, the total wiring length can be shortened, and the wiring cost can be reduced. Moreover, since the number of wirings can be reduced, wiring space can be reduced. Furthermore, since the light emitter and the light receiver and between the light receiver and the control device are connected by a single wiring, a small connector can be used, and the component cost can be reduced and the space required for installing the connector can be reduced. Can be realized.

Incidentally, in the obstacle detecting apparatus according to the first embodiment described above, as shown by broken lines in FIGS. 1 and 2, the light emitting control signal sent to the first stage of the projector 6 _11, as supplied from the control unit 11 Can be configured. In this case, the connection between the light projection control input circuit 62 and the 0V line 17 of the light projector 6 ₁₁ is electrically removed. The control device 11 controls the relative first-stage projector 6 _11, giving a light projection control signal for instructing the light emitting control signal and the non-light emitting instructing light projecting alternately obtained from the light receiver 7 _1n the final stage By comparing the output signal with the light projection control signal, it can be configured to determine whether or not the obstacle detection device is faulty or abnormally set.

Or, the control unit 11, when given a certain time a control signal for instructing the non-projection light to the first stage of the projector 6 _11, the light receiver 7 _1n the final stage during which it is detected that a light receiving state, disorder It may be determined that the object detection device is faulty or abnormal.

  Next, a first modification of the obstacle detection device according to the first embodiment of the present invention will be described. In the obstacle detection device according to the first embodiment described above, one signal transmission path is formed between two adjacent shelves, but the obstacle detection device according to the first modification is As shown in FIG. 3, one signal transmission path is formed between all the shelves. In addition, in FIG. 3, although the example of the obstacle detection apparatus applied to the movement shelf installation by which one movement shelf 3 is arrange | positioned between one fixed shelf 1 and the other fixed shelf 2, The number of moving shelves is arbitrary. Moreover, the case where division control is performed for each shelf or for each of a plurality of shelves is also included in the modification of the present embodiment.

In the obstacle detection apparatus, the sensor detects the beam 8 ₁₁ generated by the first-stage projector 6 ₁₁ is sent to the light receiver 7 ₁₁ of the mobile rack 3. The light receiver 7 ₁₁ of the movable shelf 3 converts the received sensor detection beam 8 ₁₁ into an electrical signal, and sends it to the next-stage light projector 6 ₂₁ via the wiring 12 ₁₁ . Emitter 6 ₂₁ receives this electrical signal, generates and sends a sensor detection beam 8 ₂₁ to the light receiver 7 ₂₁ of the other fixed shelf 2. Light receiver 7 ₂₁ of the other fixed shelf 2 converts the sensor detection beam 8 ₂₁ received into an electrical signal and sends the projector 6 ₂₂ via the wiring 12 _21. Emitter 6 ₂₂ receives this electrical signal is sent to the light receiver 7 ₂₂ movable shelves 3 to generate a sensor detection beam 8 _22. Light receiver 7 ₂₂ moving rack 3 converts the sensor detection beam 8 ₂₂ received into an electrical signal and sends it to the projector 6 ₁₂ via wires 12 _12. The electrical signal projector 6 ₁₂ that has received the sends the light receiver 7 ₁₂ of one of the fixed shelf 1 generates a sensor detection beam 8 _12. Light receiver 7 ₁₂ of one of the fixed shelf 1 converts the sensor detection beam 8 ₁₂ received into an electrical signal, via the line 12 _12, and sends to the next projector 6 _13. In the same manner, electrical signals and optical signals are alternately transmitted sequentially, and a control output signal output from the last-stage light receiver _{71 n} arranged on one fixed shelf 1 is sent to the control device 11. The operation of the control device 11 is the same as that of the obstacle detection device according to the first embodiment described above.

  According to the obstacle detection device according to the first modified example of the first embodiment of the present invention configured as described above, it is not necessary to provide the control device 11 on each shelf. Can be configured.

  Next, a second modification of the obstacle detection device according to the first embodiment of the present invention will be described. As shown in FIG. 4, the obstacle detection apparatus according to the second modification is configured such that one signal transmission path is formed between all the shelves. However, the signal transmission path is different. In addition, in FIG. 4, although the example of the obstruction detection apparatus applied to the movement shelf installation by which one movement shelf 3 is arrange | positioned between one fixed shelf 1 and the other fixed shelf 2 is shown, The number of moving shelves is arbitrary.

In this obstacle detection device, the electric signal and the optical signal are transmitted between one fixed shelf 1 and the movable shelf 3 in the same operation as the obstacle detection device according to the first embodiment, and sensor detection is performed. The light receiver 7 _{1n of the} one fixed shelf 1 that has received the beam 8 _1n converts it into an electrical signal and sends it to the projector 6 _{1n + 1} via the wiring 12 _1n . Emitter 6 _{1n + 1} receives this electrical signal is sent to the light receiver 7 _{1n + 1} of movable shelves 3 to generate a sensor detection beam 8 _{1n + 1.} Photoreceiver 7 _{1n + 1} of moving rack 3 converts the sensor detection beam 8 _{1n + 1} received into an electrical signal and sends it to the projector 6 ₂₁ of the mobile rack 3 via the wiring 12 _{1n + 1.}

Thereafter, in the same operation as the obstacle detection device according to the first embodiment, the transmission of the electric signal and the optical signal proceeds between the movable shelf 3 and the other fixed shelf 2, and the sensor detection beam _82n is received. The light receiver 7 _2n of the moving shelf 3 converts it into an electric signal and sends it to the projector 6 _{2n + 1} via the wiring 12 _2n . Emitter 6 _{2n + 1} that received the electrical signal, generates and sends a sensor detection beam 8 _{2n + 1} to the light receiver 7 _{2n + 1} of the other fixed shelf 2. The light receiver 7 _{2n + 1} of the other fixed shelf 2 converts the received sensor detection beam 8 _{2n + 1} into an electric signal and sends it to the control device 11 via the wiring 12 _{2n + 1} . The operation of the control device 11 is the same as that of the obstacle detection device according to the first embodiment described above.

  According to the obstacle detection device according to the second modification of the first embodiment of the present invention configured as described above, it is not necessary to provide the control device 11 on each shelf, so that the obstacle detection device is inexpensive. Can be configured.

  Subsequently, an obstacle detection apparatus according to a second embodiment of the present invention will be described. The obstacle detection apparatus according to the second embodiment of the present invention uses a reflector type photoelectric sensor as the obstacle detection sensor. The reflector type photoelectric sensor is composed of a light projecting / receiving device and a reflector, and functions as an obstacle detection sensor by forming a path in which an optical signal reciprocates between the light projecting / receiving device and the reflector.

FIG. 5 is a diagram showing the arrangement and connection relationships of the devices of the obstacle detection apparatus according to the second embodiment of the present invention. In FIG. 5, in order to avoid complexity of the drawing shows only a part of the device mounted in the device with the movable shelf 3 ₁ mounted on one of the fixed shelf 1 (which with the exception of the emitter and receiver) and that, other parts of the movable shelf 3 _1, even movable rack 3 _{2-3 3} and the other fixed shelf 2 is disposed and connected in the same manner as described above of the device have been made.

One fixed shelf 1 is provided with n light emitters / receivers 18 ₁₁ to 18 _1n and a control device 11. The input side of the first light emitter / receiver 18 ₁₁ is fixed at a low level, and the light emitter / receiver 18 ₁₁ is always set to the “light emitting” state. Further, emitter and receiver 18 ₁₂ ~ 18 _1n the following stages are projector-receiver 18 ₁₁ disposed on the upstream side of the signal transmission path by the wiring 12 ₁₁ to 12 _1n, 18 _12, ..., to 18 _1n-1 Each is connected. The output side of the light _{emitting /} receiving device 18 _{1n at} the final stage is connected to the control device 11 by a wiring 12 _1n .

The control device 11 determines whether or not the obstacle 15 exists in the work space based on the control output signal sent from the light emitter / receiver 18 _1n via the wiring 12 _1n . When it is determined that the obstacle 15 exists, the operation of the moving mechanisms 4 ₁ to 4 ₃ is stopped. In the case of the reflector type, it is necessary to newly add a signal line (between shelves) for the projector / receiver 18 fixed to the movable shelves 3 _{1 to} 3 ₃ .

The moving shelf 3 ₁ is provided with _n reflectors 19 _{11 to} 19 _1n . The n reflectors 19 _{11 to} 19 _1n reflect the optical signals transmitted as sensor detection beams 8 ₁₁ to 8 _1n from the _n light emitters / receivers 18 ₁₁ to 18 _1n , respectively, so that _n light sources are projected. They are positioned so as to return to the light receivers 18 ₁₁ to 18 _1n , respectively.

FIG. 6 is a block diagram showing an electrical configuration of the obstacle detection apparatus according to the second embodiment of the present invention. In FIG. 6, in order to avoid complication of the drawings, shows an electrical configuration of only electrical configuration of one of the fixed shelf 1 and the mobile rack 3 ₁ part (and excluding the emitter and receiver) and that, other parts of the movable shelf 3 ₁ has the same electrical configuration and the even mobile rack 3 _{2-3 3} and the other fixed shelf 2.

One fixing the n emitter and receiver 18 ₁ ~ 18 _n are disposed on the shelf 1 is connected to a common power supply line 16 and the 0V line 17. The input terminal for the light projection control signal of the _first light projector / receiver 18 ₁ is connected to the 0V line 17.

Each of the _n light projecting / receiving devices 18 ₁ to 18 _n includes a power supply circuit 81, a light projecting control input circuit 82, a light projecting circuit 83, a light receiving circuit 84, and a control output circuit 85. The power supply circuit 81 generates a predetermined voltage from the power supplied from the power supply line 16 and the 0V line 17 and supplies it to each internal circuit. The light projection control input circuit 82 generates a drive signal from a light projection control signal input from the outside and sends it to the light projection circuit 83. The light projection control signal is an active signal at a low level. The light projecting circuit 83 includes a light emitting element that converts an electrical signal into an optical signal. The light projecting circuit 83 generates an optical signal by emitting light in accordance with a drive signal transmitted from the light projecting control input circuit 82, and detects the sensor. Output to the outside as a beam.

  The light receiving circuit 84 includes a light receiving element that converts an optical signal into an electric signal, converts an optical signal input from the outside as a sensor detection beam into an electric signal, and sends the electric signal to the control output circuit 85. The control output circuit 85 amplifies and determines the signal sent from the light receiving circuit 84 and outputs it to the outside as a control output signal.

Next, the operation of the obstacle detection apparatus according to the second embodiment of the present invention configured as described above will be described. First, when the obstacle detection device is turned on by operating a power switch (not shown), power is supplied to the power line 16 and the 0V line 17. Thereby, the output optical signal from the first stage of the emitter and receiver 18 _11, is transmitted to the reflector 19 ₁₁ as a sensor detecting the beam 8 _11. The sensor detection beam 8 ₁₁ is reflected by the reflector 19 ₁₁ , returned to the light projector / receiver 18 ₁₁ again, and input to the light receiving circuit 84. Light receiving circuit 84 converts the sensor detection beam 8 ₁₁ received into an electrical signal and sends it to the control output circuit 85. The control output circuit 85 amplifies the input signal to generate a control output signal, and sends it to the next light projector / receiver 18 ₁₂ as a light projection control signal via the wiring 12 ₁₁ . In the same manner, electrical signals and optical signals are alternately and sequentially transmitted, and a control output signal output from the light projector / receiver 18 _1n at the final stage is sent to the control device 11.

The control device 11 checks whether the control output signal sent from the light projector / receiver 18 _1n is at a low level or a high level, and determines that there is no obstacle 15 in the work space if the control output signal is at a low level. Then, control is performed to continue monitoring the obstacle 15. On the other hand, if the control output signal sent from the light projector / receiver 18 _1n is at a high level, the control device 11 determines that the obstacle 15 exists in the work space, and operates the moving mechanisms 4 ₁ to 4 ₃ . Stop. Thus, for example, as shown in FIGS. 7 and 8, if the obstacle 15 is present on any of the working space 5 ₁ to 5 _4, movement of the moving rack 3 ₁ to 3 ₃ are stopped.

  As described above, according to the obstacle detection device according to the second embodiment of the present invention, the signal wiring for connecting a plurality of obstacle detection sensors (a pair of light emitter / receiver and reflector) in series is: In each shelf, it is only necessary to provide between adjacent projectors / receivers. Therefore, since the number of wirings can be reduced, the time required for wiring work can be shortened, the total wiring length can be shortened, and the wiring cost can be reduced. Moreover, since the number of wirings can be reduced, wiring space can be reduced. Furthermore, since the light emitters / receivers and between the light emitter / receiver and the control device are connected by a single wire, a small connector can be used, the component cost can be reduced, and a space-saving for connector installation can be realized. .

In the obstacle detection apparatus according to the second embodiment described above, a light projection control signal to be sent to the first light projector / receiver 18 ₁₁ is supplied from the control device 11 as indicated by a broken line in FIGS. It can also be configured. In this case, the connection between the light projection control input circuit 82 of the light projector / receiver 18 ₁₁ and the 0V line 17 is electrically removed. The control device 11 to the first stage of the emitter and receiver 18 _11, giving a light projection control signal for instructing the light emitting control signal and the non-light emitting instructing light projecting alternately from the emitter and receiver 18 _1n the final stage By comparing the output control output signal with the light projection control signal, it is possible to determine whether or not the obstacle detection device has a failure or an abnormality is set.

Alternatively, the control device 11 gives a control signal instructing non-projection to the first-stage light projector 18 ₁₁ for a certain period of time, and when it is detected that the last-stage light receiver 18 _1n is in the light receiving state during this time, It may be determined that the object detection device is faulty or abnormal.

In the obstacle detection device according to the first embodiment and the second embodiment described above, a plurality of movable shelves 3 _{1 to} 3 ₃ are arranged between one fixed shelf 1 and the other fixed shelf 2. However, at least one of the one fixed shelf 1 and the other fixed shelf 2 may be a moving shelf.

  Moreover, in the obstacle detection device according to the first embodiment and the second embodiment described above, the movement of each moving shelf is stopped when it is confirmed that there is an obstacle in the work space. Instead of stopping the moving shelf, the presence of an obstacle may be reported with a buzzer or a warning light.

  As described above, since the obstacle detection device for moving shelf equipment according to the present invention has a plurality of obstacle detection sensors connected in series and arranged between adjacent shelves as described above, there is an obstacle in the work space. The electrical signal between the obstacle detection sensors and the optical signal of the path of the obstacle detection sensor are alternately and continuously transmitted in the state where no obstacle exists, and the transmission is interrupted in the state where the obstacle exists in the work space. The Therefore, it is possible to detect the presence or absence of an obstacle in the work space. In this case, signal wiring for connecting a plurality of obstacle detection sensors in series only needs to be provided between the obstacle detection sensors, and the wiring cost and wiring space can be reduced by considerably shortening the total wiring length.

  Preferably, in the obstacle detection apparatus for moving shelf equipment according to the present invention, each of the plurality of obstacle detection sensors includes a transmission type photoelectric sensor including a projector and a light receiver, and the light projector and the light receiver of the photoelectric sensor are The optical signals may be arranged on adjacent shelves so that the optical signal is transmitted through either the route from one shelf to the other shelf or the route from the other shelf to one shelf.

  As described above, since each of the plurality of obstacle detection sensors is constituted by a transmissive photoelectric sensor including a projector and a light receiver, a widespread and inexpensive obstacle detection sensor can be used and is inexpensive. An obstacle detection device can be provided.

  Preferably, in the obstacle detection device for a moving shelf facility according to the present invention, each of the plurality of obstacle detection sensors includes a reflector type photoelectric sensor including a light emitter / receiver and a reflector, and the light emitter / receiver and the reflector are provided. Adjacent shelves so that optical signals are transmitted either from one shelf through the other shelf back to one shelf or from the other shelf back through one shelf to the other shelf It is good to be arranged in.

  As described above, each of the plurality of obstacle detection sensors is constituted by the reflector type photoelectric sensor including the light emitter / receiver and the reflector, so that the light emitter / receiver requiring wiring is arranged on one shelf, and wiring is unnecessary. A reflector can be placed on the other shelf. Therefore, since the wiring work has only to be performed on one shelf, the labor required for wiring can be reduced.

  Preferably, the obstacle detection device for a moving shelf facility according to the present invention is configured to control light projection or non-light projection on the first-stage obstacle detection sensor among a plurality of obstacle detection sensors connected in series. Failure or abnormality is set by inputting the light control signal and comparing the control output signal output from the obstacle detection sensor at the final stage among the plurality of obstacle detection sensors connected in series with the light projection control signal. It is good to judge the presence or absence.

  Thereby, it is possible to easily determine the presence or absence of failure or abnormality setting of the obstacle detection device.

It is a figure which shows arrangement | positioning and the connection relation of the apparatus of the obstruction detection apparatus which concerns on the 1st Embodiment of this invention. It is a block diagram which shows the electric constitution of the obstruction detection apparatus which concerns on the 1st Embodiment of this invention. It is a figure which shows arrangement | positioning and the connection relation of the apparatus of the obstruction detection apparatus which concerns on the 1st modification of the 1st Embodiment of this invention. It is a figure which shows the arrangement | positioning and connection relation of the apparatus of the obstruction detection apparatus which concerns on the 2nd modification of the 1st Embodiment of this invention. It is a figure which shows arrangement | positioning and the connection relation of the apparatus of the obstruction detection apparatus which concerns on the 2nd Embodiment of this invention. It is a figure which shows arrangement | positioning and the connection relation of the apparatus of the obstruction detection apparatus which concerns on the 2nd Embodiment of this invention. It is a side view which shows typically the structure of the conventional moving shelf installation with which the obstacle detection apparatus was applied. It is a top view which shows typically the structure of the conventional mobile shelf installation with which the obstacle detection apparatus was applied. It is a figure which shows the arrangement | positioning and connection relation of the apparatus of the obstruction detection apparatus applied to the conventional mobile shelf installation.

Explanation of symbols

1 one of the fixed shelves 2 other fixed shelf 3,3 _{1-3 3} movable shelf ₄₁ to ₃ moving mechanism 5,5 _{1-5 4} workspace 6,6 _{1-6 4} Emitter 7,7 _{1-7 4} Receiver 8, 8 ₁ to 8 ₄ Sensor detection beam 6 _{11 to} 6 _{2n + 1} Projector 7 _{11 to} 7 _{2n + 1} Receiver 8 ₁₁ to 8 _{2n + 1} Sensor detection beam 9, 10 Sensor controller 11 Controller 12 ₁₁ to 12 _{2n + 1} line 15 obstacle 16 power supply line 17 0V line 18 ₁₁ ~ 18 _1n projector-receiver 19 ₁₁ ~ 19 _1n the reflector 61, 71, 81 power supply circuit 62, 82 projecting control input circuit 63, 83 projecting circuit 72, 84 Light receiving circuit 73, 85 Control output circuit

Claims (4)

In the obstacle detection device for a moving shelf facility for detecting an obstacle present in a work space formed between each shelf of a movable shelf facility in which a movable shelf is arranged,
The obstacle detection device includes a plurality of obstacle detection sensors formed to have optical signal paths between adjacent shelves,
The plurality of obstacle detection sensors continuously and alternately transmit an electrical signal between the obstacle detection sensors and an optical signal of the path of the obstacle detection sensor in a state where no obstacle exists in the work space. Are arranged in adjacent shelves connected in series,
An obstacle detection apparatus for a moving shelf facility, wherein the presence of an obstacle in the work space is detected by shielding at least one path among the plurality of obstacle detection sensors. Each of the plurality of obstacle detection sensors comprises a transmissive photoelectric sensor provided with a projector and a light receiver,
The photoelectric sensor projector and receiver are connected to the adjacent shelves so that an optical signal is transmitted through either a path from one shelf to the other shelf or a path from the other shelf to one shelf. The obstacle detection device for moving shelf equipment according to claim 1, wherein the obstacle detection device is arranged. Each of the plurality of obstacle detection sensors comprises a reflector type photoelectric sensor including a light emitter / receiver and a reflector,
The light emitter / receiver and the reflector transmit the optical signal either from one shelf to the other shelf through the other shelf or from the other shelf to one shelf through the other shelf. The obstacle detection device for moving shelf equipment according to claim 1, wherein the obstacle detection device is arranged on the adjacent shelves. A light projection control signal for controlling light projection or non-light projection is input to the first-stage obstacle detection sensor among the plurality of obstacle detection sensors connected in series, and the plurality of obstacles connected in series are detected. The presence or absence of failure or abnormality setting is determined by comparing a control output signal output from an obstacle detection sensor at the last stage of the sensors with the light projection control signal. Item 4. The obstacle detection device for moving shelf equipment according to any one of Items 3 to 4.

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