JP3673206B2 - Moving shelf safety device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a moving shelf apparatus for moving and controlling a plurality of shelves so as to optionally form a working path between the respective shelves, and in particular, a safety apparatus for a moving shelf with improved safety. About.
[0002]
[Prior art]
As is well known, in a storage system that stores a large number of articles, files, and the like on a shelf, in order to improve the space efficiency, a movable shelf device such as the heading is often used.
[0003]
Such a movable shelf apparatus is generally configured such that a work path corresponding to a work surface of a target shelf is formed by manually driving each shelf. When the size is increased or when the number of shelves is large, it is difficult to manually move.
[0004]
For this reason, conventionally, by providing a self-propelled mechanism in each shelf and operating a path selection switch corresponding to the work path to be formed, a desired work path is automatically formed. Various mobile shelf devices that move each shelf have been developed.
[0005]
In other words, this type of movable shelf device is provided with a motor and a passage selection switch on each of a plurality of shelves set so as to be movable along a specified rail, and a passage selection switch provided on an arbitrary shelf. By operating, each shelf is moved by the motor so that a working passage corresponding to the shelf is formed.
[0006]
Then, after the work path corresponding to the shelf is formed, the interlock is automatically applied so that the work path is held. This interlock state is maintained until the operator operates a reset switch installed on the shelf, for example, when the worker leaves the work passage.
[0007]
However, in the configuration in which the interlock is released by the operation of the reset switch in this way, even when the worker is in the work path, the interlock is easily operated by the other operator operating the reset switch. Since it will be released, there will be a problem of lack of sufficient safety.
[0008]
Therefore, in recent years, in order to deal with the above problems and further improve the safety of the moving shelf device, for example, as disclosed in Japanese Patent Publication No. 57-13289 and Japanese Patent Laid-Open No. 5-170302. Safety measures have been developed.
[0009]
That is, in the former, two reflection type photoelectric switches are arranged at the entrance and exit of each passage, and after the outside reflection type photoelectric switch is operated by the entry of a person or an object into the passage, the inside reflection type photoelectric switch is operated. Locks the shelf so that it does not operate when the camera operates, and when the outside reflective photoelectric switch operates after the inner reflective photoelectric switch operates due to the exit of a person or object outside the passage, the shelf The device for unlocking is a movable shelf.
[0010]
However, if there is only one person who entered the aisle, it can be unlocked and safer when that person leaves, but if more than one person is in the aisle, one of them will leave The shelves are unlocked even when there are people still in the aisle, resulting in a lack of safety.
[0011]
In the latter case, an infrared sensor is installed in the passage to detect the presence of an operator in the passage by detecting infrared rays emitted from the human body. Sometimes, the interlock is released.
[0012]
However, since the infrared sensor generally detects an infrared change due to movement of the human body, if the worker is stationary in the passage, the presence or absence of the worker cannot be detected. It is determined that there is no worker inside, and the inconvenience that the interlock is released is likely to occur.
[0013]
In addition, if the detection area of the infrared sensor leaks out of the work path corresponding to the shelf, it is detected that the person who has passed through the work path exists in the path, and the interlock is applied. Therefore, the movement of the shelves is frequently stopped during the passage formation, and there is a problem that the intended work passage cannot be formed quickly.
[0014]
[Problems to be solved by the invention]
Therefore, the present invention has been made in consideration of the above circumstances, and can accurately detect the presence / absence of an operator in a work passage without error to ensure sufficient safety for the operator, and can perform desired work. It is an object of the present invention to provide an extremely good movable shelf safety device that enables rapid formation of a service passage.
[0015]
[Means for Solving the Problems]
The safety device for a movable shelf according to the present invention is set so as to be movable along a specified rail, each of which includes a plurality of shelves having a self-propelled mechanism, and each of the plurality of shelves is moved and controlled, The present invention is directed to a moving shelf apparatus that selectively forms a work path between arbitrary shelves.
[0016]
And it detects that the worker passed through the entrance / exit of each work passage selectively formed between the plurality of shelves. And having first and second detectors provided along the entrance / exit direction of the worker in the vicinity of the entrance / exit of the work passage. A first detection means, a second detection means for detecting the presence of an operator in each work passage selectively formed between a plurality of shelves, and a first detection means and a second detection means each Based on the detection result, determine the presence or absence of the worker in the formed work passage, When it is determined that there is a worker, the work passage is controlled to be in an interlock state, and when it is determined that there is no worker, the interlock of the work passage is released. First and second detection Based on the combination of each detection output from the section, when the worker enters the work passage, when leaving the work passage, when entering the work passage and stopping, It can be distinguished from the case where it is stopped by exiting And control means The control means includes a counter that is counted up when it is determined that the worker has entered the work passage and is counted down when it is determined that the worker has exited from the work passage. The work in the work passage formed based on the detection result of the second detection means after the first time has elapsed from the time when the worker has left the work passage. The second time after the second time longer than the first time has elapsed from the time when the worker's exit from the work passage is determined when the counter value is not zero. Based on the detection result of the detection means, it is determined whether or not there is an operator in the formed work passage It is what I did.
[0017]
According to the above configuration, When the count value of the counter that is counted up when it is determined that the worker has entered the work passage and is counted down when it is determined that the worker has exited from the work passage is 0, Based on the detection result of the second detection means after the first time has elapsed from the time when the exit from the passage is determined, the presence or absence of an operator in the formed working passage is determined, and the counter When the count value is not 0, based on the detection result of the second detection means after the second time longer than the first time has elapsed since the worker's exit from the work passage was determined. , Judgment of the presence or absence of workers in the formed work passage Therefore, the presence / absence of the worker in the work passage can be accurately detected without error, and sufficient safety for the worker can be ensured.
[0018]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, a first embodiment of the present invention will be described in detail with reference to the drawings. First, FIG. 1 shows the overall configuration of a moving shelf apparatus described in the first embodiment. That is, this movable shelf apparatus is an example in which three movable shelves 12, 13, and 14 are installed with respect to the fixed shelf 11 set at the left end for convenience.
[0019]
These movable shelves 12 to 14 are each configured to be moved by wheels 16, 17, and 18 on a common rail 15. In this case, each of the movable shelves 12 to 14 is equipped with motors M1, M2, and M3 that rotationally drive the wheels 16 to 18, respectively. Depending on the rotation direction of these motors M1 to M3, each of the movable shelves 12 to 14 will be self-propelled in the right or left direction.
[0020]
The fixed shelf 11 and the movable shelves 12 to 14 are provided with passage selection switches PB0, PB1, PB2, and PB3 for instructing the respective work surfaces to form work passages. The fixed shelves 11 and the movable shelves 12 to 14 are provided with illumination lamps FL0, FL1, FL2, and FL3 for illuminating each work passage formed on each work surface.
[0021]
The movable shelf 12 includes a human body sensor PD0 for detecting whether or not a person is present in a work path formed between the fixed shelf 11 and the movable shelf 12, and the movable shelf 12. And a human body sensor PD1 for detecting whether or not a person is present in a work path formed between the mobile shelf 13 and the movable shelf 13.
[0022]
Further, the moving shelf 13 is provided with a human body sensor PD2 for detecting whether or not a person is present in a work path formed between the moving shelf 13 and the moving shelf 14. The moving shelf 14 is provided with a human body sensor PD3 for detecting whether or not a person is present in a work path formed between the moving shelf 14 and the wall portion 19 facing the moving shelf 14. .
[0023]
Although these human body detection sensors PD0 to PD3 will be described in detail later, they detect the presence or absence of a human in a certain space by detecting an infrared change due to the movement of the human body.
[0024]
Further, light emitters OP0, OP1, OP2, and OP3 are installed on the movable shelves 12 to 14 and the wall 19 that faces the movable shelf 14, respectively. The fixed shelves 11 and the movable shelves 12 to 14 receive the irradiation light from the light emitters OP0 to OP3, respectively, and detect input / output sensors IP0, IP1, and IP3 that detect human entry / exit from the work path. IP2 and IP3 are installed.
[0025]
Further, the fixed shelf 11 and the movable shelves 12 to 14 are in close proximity to the adjacent movable shelves 12 to 14 or in contact with the stop mechanism 20 installed on the wall 19. Limit switches LS 0, LS 1, LS 2, and LS 3 that are actuated to prevent further press contact between the shelves and the stop mechanism 20 are installed.
[0026]
Further, safety bar switches SB0, SB1, SB2, and SB3 operated by a safety stop bar (not shown) installed on the respective work surfaces are installed on the fixed shelf 11 and the movable shelves 12 to 14, respectively. These safety bar switches SB0 to SB3 function to prevent the movement of the moving shelves forming the work path including at least the operated safety stop bar.
[0027]
Here, the fixed shelf 11 has an RCU (Rack Control Unit) 21 for receiving a command from a management computer (not shown) and controlling the operations of all the movable shelves 12 to 14 including the self. is set up. In addition, on each of the movable shelves 12 to 14, shelf control boards 22, 23, and 24 for controlling their own operation based on the control of the RCU 21 are installed.
[0028]
The fixed shelf 11 is provided with a main power switch CS and a display lamp LP for confirming that the main power switch CS is turned on.
[0029]
FIG. 2 shows a state where the moving shelf device is viewed from the top. That is, the fixed shelf 11 is composed of six shelf trains 11a to 11f whose work surface is the movable shelf 12 side. The movable shelf 12 is composed of six shelf trains 12a to 12f whose working surface is the fixed shelf 11 side and six shelf trains 12g to 12l whose working surface is the movable shelf 13 side.
[0030]
Furthermore, the movable shelf 13 is composed of six shelf trains 13a to 13f whose working surface is the movable shelf 12 side and six shelf trains 13g to 13l whose working surface is the movable shelf 14 side. The movable shelf 14 includes six shelf trains 14a to 14f whose work surface is the movable shelf 13 side and six shelf trains 14g to 14l whose work surface is the wall 19 side.
[0031]
Here, the fixed shelf 11 and the movable shelves 12 to 14 are arranged on the side of one of the shelf shelves 11a, 12a, 12g, 13a, 13g, 14a, and 14g of the movable shelves 12 to 14 indicated by arrows A and B in the figure. It faces the main passage 25 formed along the moving direction. The entry / exit with respect to any work passage is performed through the main passage 25.
[0032]
Next, in the movable shelf 12, the above-described human body sensors PD0a, PD0b, PD0c are respectively installed at the boundary portions 12f of the shelf series 12a, 12c and 12d on the fixed shelf 11 side. Further, in the movable shelf 12, the above-described human body sensors PD1a, PD1b, and PD1c are respectively installed at the boundary portions 12l, 12l of the shelf series 12g, 12i, and 12j on the movable shelf 13 side.
[0033]
Further, in the movable shelf 13, the above-described human body sensors PD2a, PD2b, and PD2c are respectively installed at the boundary portions 13l of the shelf series 13g, 13i, and 13j on the movable shelf 14 side. Further, in the movable shelf 14, the above-described human body sensors PD3a, PD3b, and PD3c are respectively installed at the boundary portions 14l of the shelves 14g, 14i and 14j on the wall 19 side.
[0034]
FIG. 3 shows the arrangement of the human body sensors PD0a, PD0b, PD0c and the light emitter OP0 for the input / output sensor IP0 on the work surface of the movable shelf 12 on the fixed shelf 11 side.
[0035]
For the work surface of the movable shelf 12 on the movable shelf 13 side, the work surface of the movable shelf 13 on the movable shelf 14 side, and the work surface of the movable shelf 14 on the wall 19 side, the light emitter OP0 is connected to the input / output sensor IP1, The arrangement of the human body sensors PD1, PD2, and PD3 is the same as that of the work surface on the fixed shelf 11 side of the movable shelf 12, and the description thereof is omitted.
[0036]
That is, the human body detection sensor PD0a is installed near the ceiling on the side of the main passage 25 of the shelf string 12a. The human body detection sensor PD0a is set so that a detection area is a range between the shelves 11a and 11b and the shelves 12a and 12b in the working path formed by the fixed shelf 11 and the movable shelf 12. Has been.
[0037]
The detection area of the human body sensor PD0a is set vertically along the entrance / exit of the work passage so as not to leak to the outside of the work passage, that is, to the main passage 25 side.
[0038]
In addition, the human body sensor PD0b is installed near the ceiling at the boundary between the shelf units 12c and 12d. The human body detection sensor PD0b is set so that a detection area is a range between the shelf trains 11b to 11e and the shelf trains 12b to 12e in the working path formed by the fixed shelf 11 and the movable shelf 12. Has been.
[0039]
Furthermore, the human body sensor PD0c is installed near the back ceiling with respect to the main passage 25 of the shelf string 12f. The human body sensor PD0c is set so that a detection area is defined as a range between the shelves 11e and 11f and the shelves 12e and 12f in the work path formed by the fixed shelf 11 and the movable shelf 12. Has been.
[0040]
The detection area of the human body sensor PD0c is also set vertically along the back side of the main passage 25 of the shelf string 12f so as not to leak outside the work passage.
[0041]
In short, a range sandwiched between the five shelf units 11a to 11e and the shelf units 12a to 12e by the two human body detection sensors PD0a and PD0b is set as a detection region, and the five shelf units 11b are formed by the two human body detection sensors PD0b and PD0c. The range sandwiched between ˜11f and the shelves 12b to 12f is set as a detection region. In other words, when the number of moving shelves increases, the human body sensor may be appropriately installed so that the entire path is covered as a detection area along the work path.
[0042]
The light emitter OP0 is installed near the center of the shelf 12a at the main passage 25 side of the shelf 12a, that is, near the entrance / exit of the working passage. The light emitted from the light emitter OP0 is formed between the fixed shelf 11 and the movable shelf 12 depending on whether the light is received by the input / output sensor IP0 installed at the corresponding position of the fixed shelf 11. It is detected that the worker has passed through the entrance / exit of the work passage.
[0043]
FIG. 4 shows the configuration of the human body sensor PD0a installed in the shelf string 12a located at the end of the movable shelf 12. Since the other human body detection sensors PD0b and PD0c have the same configuration as the human body detection sensor PD0a, description thereof is omitted.
[0044]
That is, the human body detection sensor PD0a stores various circuit parts and circuit boards (not shown), and the human body detection sensor 27 detects an infrared ray change due to the movement of the human body in the storage box 26 constituting the main body of the human body sensor PD0a. A sensor cover 28 that covers a part of the human body detection sensor 27 to limit its detection area, a detection display lamp 29 that is turned on when a human body is detected, and the human body detection sensor 27 in a driving state when the power is turned on. A power lamp 30 that is turned on at a certain time and a metal fitting 31 having a mounting hole 31a are attached.
[0045]
And this human body sensor PD0a inserts a screw (not shown) into the mounting hole 31a of the metal fitting 31, and fastens it to a portion near the ceiling on the side of the main passage 25 facing the work passage of the shelf 12a. Will be attached.
[0046]
Here, as described above, the human body sensor PD0a limits the detection area by covering a part of the human body sensor 27 with the sensor cover 28. Accordingly, as described above, the detection region can be set vertically along the entrance / exit of the work passage so as not to leak to the outside of the work passage, that is, to the main passage 25 side.
[0047]
As shown in FIG. 5, the human body sensor PD0a capable of limiting the detection area in this way can easily change the detection area simply by replacing the sensor cover 28.
[0048]
FIG. 6 shows the details of the control system of the above-described moving shelf device. That is, the reference numeral 32 in the figure is the management computer described above. This management computer 32 is installed in, for example, a dedicated room provided separately from the installation location of the mobile shelf device, and has a database for all articles and files stored in the mobile shelf device. I manage the in and out.
[0049]
The management computer 32 is connected to the RCU 21 installed on the fixed shelf 11 so that data communication is possible. The RCU 21 incorporates, for example, a microprocessor and controls the operations of the fixed shelf 11 itself and the movable shelves 12 to 14 based on a command from the management computer 32.
[0050]
In this case, the RCU 21 is supplied with power in the state where the main power switch CS is turned on and the display lamp LP is lit, and its operation is started. And RCU21 inputs operation information, such as passage selection switch PB0, safety bar switch SB0, limit switch LS0, etc. which are provided in the fixed shelf 11, and detection information of input / output sensor IP0, and lights illumination lamp FL0 The lighting drive signal for making it output is output.
[0051]
The RCU 21 is connected to the shelf control boards 22 to 24 provided on the movable shelves 12 to 14 via the bus line 33 and controls the shelf control boards 22 to 24.
[0052]
In this case, for example, the shelf control board 22 of the movable shelf 12 receives operation information such as the passage selection switch PB1, the safety bar switch SB1 and the limit switch LS1, and detection information such as the input / output sensor IP1 and the human body detection sensors PD0 and PD1. While inputting, a drive signal for driving the light emitter OP0, the illumination lamp FL1, and the motor M1 is output.
[0053]
Further, the other shelf control boards 23 and 24 control the corresponding movable shelves 13 and 14 in substantially the same manner as the shelf control board 22. Further, the shelf control board 24 also outputs a drive signal for driving the light emitter OP3 installed on the wall portion 19.
[0054]
In the mobile shelf device configured as described above, the characteristic operation will be described below with reference to the flowchart shown in FIG. FIG. 7 illustrates the characteristic operation of the first embodiment, taking as an example the work path formed between the fixed shelf 11 and the movable shelf 12.
[0055]
That is, when the work path is formed between the fixed shelf 11 and the movable shelf 12 (step S11), the RCU 21 determines whether the input / output sensor IP0 is in the detection state in step S12. Determine whether or not. If it is determined that the detection state has not been reached (NO), the RCU 21 determines whether or not the human body sensor PD0 has entered the detection state in step S13, and if it has not been detected (NO) ) Is completed (step S28).
[0056]
If it is determined in step S13 that the human body sensor PD0 is in a detection state (YES), the RCU 21 determines in step S14 that an operator is present in the work passage, and in step S15, The work passage is interlocked, and in step S16, the fact that it is in an interlock state is displayed on a display unit (not shown) installed on the fixed shelf 11 or the movable shelf 12, and the process is terminated (step S28).
[0057]
Further, when it is determined in step S12 that the input / output sensor IP0 is in a detection state (YES), the RCU 21 waits until the input / output sensor IP0 is in a non-detection state in step S17. When it is determined that the sensor IP0 is in a non-detection state (YES), in step S18, a built-in timer (not shown) is driven and waits for a predetermined time T1, and then in step S19, the human body sensor PD0 is in a detection state. It is determined whether or not.
[0058]
If it is determined that the human body sensor PD0 is in the detection state (YES), the RCU 21 determines in step S20 that an operator is present in the work path, and in step S21, the RCU 21 enters the work path. In step S22, the interlock is displayed on the display unit, and the process is terminated (step S28).
[0059]
If it is determined in step S19 that the human body sensor PD0 is not in the detection state (NO), the RCU 21 determines whether or not the human body sensor PD0 is in the detection state in step S23. When it is determined that the detection state has been reached (YES), the process proceeds to step S20.
[0060]
On the other hand, when it is determined in step S23 that the human body sensor PD0 is not in the detection state (NO), the RCU 21 drives the built-in timer in step S24 to determine whether or not a predetermined time T2 has elapsed. If it is determined that it has not elapsed (NO), the process returns to the process of step S23.
[0061]
If it is determined in step S24 that the predetermined time T2 has elapsed (YES), the RCU 21 determines in step S25 that there is no worker in the work passage, and in step S26, the work is performed. The interlock of the passage is released, the display unit is turned off in step S27, and the process is terminated (step S28).
[0062]
FIG. 8 shows the presence / absence of an operator in the passage and whether the passage can be opened / closed, as determined by the RCU 21 based on the detection / non-detection state of the input / output sensor IP0 and the human body sensor PD0 based on the above-described operation. And explain.
[0063]
That is, when the input / output sensor IP0 is once in the detection state and then reversed to the non-detection state, if the human body sensor PD0 is in the detection state when the predetermined time T1 has elapsed from the time of the reverse, the RCU 21 It is determined that there is an operator in the door and the interlock is applied. In addition, when the human body sensor PD0 enters the detection state, the opening / closing operation with respect to the work passage is not allowed.
[0064]
Further, once the interlock is applied, the interlock is continued without being released even if the human body sensor PD0 is in a non-detection state due to the operator's rest.
[0065]
In this interlock state, if the input / output sensor IP0 once enters the detection state and then reverses to the non-detection state, and if the human body sensor PD0 is in the non-detection state when a predetermined time T1 has elapsed from the time of the reverse, The RCU 21 waits for the elapse of the predetermined time T2, determines that there is no worker in the passage, releases the interlock, and enables the operation passage to be opened and closed.
[0066]
If the human body sensor PD0 is in a detection state before the predetermined time T2 elapses, the RCU 21 determines that there is an operator in the passage and does not release the interlock or applies the interlock.
[0067]
FIG. 9 is a flowchart for explaining the operation when the human body sensor PD0 is in a detection state with the work passage closed. That is, when started (step S29), the RCU 21 determines in step S30 whether or not the work passage is closing, and if it is determined that the closing operation is being performed (YES), step S31. Thus, it is determined whether or not the human body sensor PD0 is in a detection state.
[0068]
If it is determined that the human body sensor PD0 is in the detection state (YES),
In step S32, the RCU 21 stops the operation of closing the work passage and ends (step S33).
[0069]
According to the first embodiment described above, the detection output of the input / output sensor IP0 for detecting the entry / exit of the worker with respect to the work passage and the human body sensor PD0 for detecting the presence / absence of the worker in the work passage. By combining with the detection output, it is determined whether or not there is an operator in the work path.
[0070]
For this reason, it is possible to accurately detect the presence or absence of an operator in the work passage without any error. For example, even when the worker stops in the passage and the human body sensor PD0 is in a non-detection state, the interlock is not detected. It is possible to ensure sufficient safety for the worker without being released.
[0071]
In addition, since the human body sensor PD0 is provided with the sensor cover 28, its detection area is limited so as not to leak to the outside of the working passage, that is, to the main passage 25, so that it passes through the main passage 25. It is possible to quickly form a target work passage because it is not erroneously detected that the person in the passage is an operator in the passage and the movement of the movable shelves 12 to 14 is stopped undesirably. Can do.
[0072]
In FIG. 2, the fixed shelf 11 and one of the shelf shelves 11 a, 12 a, 12 g, 13 a, 13 g, 14 a, and 14 g of the movable shelves 12 to 14 have been described as facing the main passage 25. The main shelf is also formed on the fixed shelf 11 and the other shelf series 11f, 12f, 12f, 13f, 13f, 14f, and 14f side of the movable shelves 12 to 14, and the fixed shelf 11 and each movable shelf 12 It is also possible to configure so as to be able to enter and exit the work passage from both sides of -14.
[0073]
When configured in this way, a path between the shelf series 11f of the fixed shelf 11 and the shelf series 12f of the movable shelf 12, and a path between the shelf series 12l of the movable shelf 12 and the shelf series 13f of the movable shelf 13 The light emitters OP0 to OP3 described above are provided at the entrances and exits of the passage between the shelf sequence 13l of the movable shelf 13 and the shelf sequence 14f of the movable shelf 14 and the passage between the shelf sequence 14l of the movable shelf 14 and the wall portion 19, respectively. And input / output sensors IP0 to IP3 need to be installed respectively.
[0074]
In FIG. 6, the management computer 32 is provided as a control system for the moving shelf device. However, the management computer 32 is not provided, and the moving shelf device can be used independently by the RCU 21. Is also possible.
[0075]
Next explained is the second embodiment of the invention. That is, in FIG. 10, the light emitter OP0 installed on the movable shelf 12 includes two light emitting units OP0a and OP0b. These light emitting parts OP0a and OP0b are provided side by side with a predetermined interval along the arrangement direction of the above-described shelf series 12a to 12f with the same height from the floor surface.
[0076]
The input / output sensor IP0 installed on the fixed shelf 11 includes two sensor units IP0a and IP0b. These sensor units IP0a and IP0b are arranged at positions to receive the irradiation light from the light emitting units OP0a and OP0b, respectively, and detect human ingress and egress with respect to the work path formed between the fixed shelf 11 and the movable shelf 12. It has a function to do.
[0077]
Here, a case where the worker WM in the main passage 25 enters the work passage as indicated by an arrow C in FIG. In this case, as shown in FIG. 11, in each of the sensor units IP0a and IP0b, from the non-detected state, the sensor unit IP0a first enters the detection state, and then the sensor unit IP0b enters the detection state. And after each sensor part IP0a and IP0b will be in a detection state, it will be in a non-detection state in order of sensor part IP0a and IP0b.
[0078]
That is, when each of the sensor units IP0a and IP0b is in a detection or non-detection state with a timing relationship as shown in FIG. 11, the RCU 21 determines that the worker WM has entered the work passage. be able to. At this time, +1 can be counted by a counter (not shown) built in the RCU 21.
[0079]
On the other hand, in FIG. 10, consider a case where the worker WM in the work passage has left the main passage as indicated by an arrow D. In this case, as shown in FIG. 12, in each of the sensor units IP0a and IP0b, from the non-detected state, first, the sensor unit IP0b is in the detection state, and then the sensor unit IP0a is in the detection state. And after each sensor part IP0a and IP0b will be in a detection state, it will be in a non-detection state in order of sensor part IP0b and IP0a.
[0080]
That is, when each of the sensor units IP0a and IP0b is in a detection or non-detection state with a timing relationship as shown in FIG. 12, the RCU 21 leaves the worker WM from the work passage to the main passage 25. Can be determined. At this time, −1 can be counted by a counter (not shown) built in the RCU 21.
[0081]
Further, as shown in FIG. 13, consider a case where a worker WM in the main passage 25 enters the work passage and stops as shown by an arrow E. Such a situation may be caused by, for example, an operator in the main passage 25 looking into the open work passage or having only one half of the body in the work passage to talk with a worker in the work passage. It often occurs on a daily basis.
[0082]
In such a case, as shown in FIG. 14, in each of the sensor units IP0a and IP0b, from the non-detected state, first, the sensor unit IP0a is in the detection state, and then the sensor unit IP0b is in the detection state. And after each sensor part IP0a and IP0b will be in a detection state, it will be in a non-detection state in order of sensor part IP0b and IP0a.
[0083]
That is, when each of the sensor units IP0a and IP0b is in a detection or non-detection state with a timing relationship as shown in FIG. 14, the RCU 21 stops when the worker WM enters the work passage. Judgment can be made.
[0084]
On the contrary, in FIG. 13, a case is considered where the worker WM in the work passage exits and stops at the main passage 25 as indicated by an arrow F. Such a situation also occurs on a daily basis, for example, when an operator in the work passage peeks into the main passage 25 or puts out only half of the body in the main passage to talk with a worker in the main passage. It often happens.
[0085]
In such a case, as shown in FIG. 15, in each of the sensor units IP0a and IP0b, from the non-detected state, first, the sensor unit IP0b is in the detection state, and then the sensor unit IP0a is in the detection state. And after each sensor part IP0a and IP0b will be in a detection state, it will be in a non-detection state in order of sensor part IP0a and IP0b.
[0086]
That is, when each sensor unit IP0a, IP0b is in a detection or non-detection state with a timing relationship as shown in FIG. 15, the RCU 21 has stopped by the worker WM leaving the work passage. Judgment can be made.
[0087]
As described above, the input / output sensor IP0 includes the two sensor units IP0a and IP0b, so that the RCU 21 can exit when the worker WM enters the work passage and when the worker WM enters the work passage. It is possible to clearly discriminate between the case of stopping and entering the work passage and stopping and the case of leaving the work passage and stopping.
[0088]
For this reason, when the worker WM enters the work passage and stops, or when the worker WM enters the work passage and stops, the worker WM enters the work passage. Therefore, it is possible to accurately determine the case of exiting from the work passage and to provide interlock control for the work passage.
[0089]
FIGS. 16 and 17 are flowcharts summarizing the interlock control operation when the worker WM leaves the work passage. First, the work passage formed between the fixed shelf 11 and the movable shelf 12 is interlocked, and both the sensor units IP0a and IP0b are started in a non-detection state (step S34).
[0090]
Then, in step S35, the RCU 21 determines whether or not the sensor unit IP0a is in the non-detection state. If it is determined that the sensor unit IP0a is not in the non-detection state (detection state) (NO), the RCU 21 waits until it enters the non-detection state. If it is determined that the non-detection state has been reached (YES), it is determined in step S36 whether or not the sensor unit IP0b is in the detection state.
[0091]
When it is determined that the sensor unit IP0b is not in the detection state (non-detection state) (NO), the RCU 21 is returned to the process of step S35, and when the sensor unit IP0b is determined to be in the detection state (YES). In step S37, it is determined whether or not the sensor unit IP0a is in a detection state.
[0092]
Here, when it is determined that the sensor unit IP0a is in the non-detection state (NO), the RCU 21 waits until it enters the detection state, and when it is determined that the sensor unit IP0a is in the detection state (YES), step S38. Thus, it is determined whether or not the sensor unit IP0b is in a non-detection state.
[0093]
When it is determined that the sensor unit IP0b is in the detection state (NO), the RCU 21 waits until the sensor unit IP0b is in the non-detection state, and when it is determined that the sensor unit IP0b is in the non-detection state (YES), step S39. Thus, it is determined whether or not the sensor unit IP0a is in a non-detection state.
[0094]
Here, when it is determined that the sensor unit IP0a is in the detection state (NO), the RCU 21 determines that the sensor unit IP0a has left and stopped, and ends this control operation (step S45).
[0095]
If it is determined that the sensor unit IP0a is in a non-detection state (YES), the RCU 21 drives a built-in timer (not shown) in step S40 and waits for a predetermined time T1, and then in step S41, the human body sensor PD0 It is determined whether or not is in a detection state.
[0096]
If it is determined that the human body sensor PD0 is in the detection state (YES), the RCU 21 determines in step S42 that the worker WM is present in the work path, and in step S43, the work path is set in the work path. In step S44, the interlock is displayed on the display unit, and the process is terminated (step S45).
[0097]
When it is determined in step S41 that the human body sensor PD0 is not in the detection state (NO), the RCU 21 determines whether or not the human body sensor PD0 is in the detection state in step S46. When it is determined that the detection state has been reached (YES), the process proceeds to step S42.
[0098]
On the other hand, if it is determined in step S46 that the human body sensor PD0 is not in the detection state (NO), the RCU 21 drives the built-in timer in step S47 to determine whether or not a predetermined time T2 has elapsed. If it is determined that the time has not elapsed (NO), the process returns to step S46.
[0099]
If it is determined in step S47 that the predetermined time T2 has elapsed (YES), the RCU 21 determines in step S48 that there is no worker in the work path and interlocks the work path. In step S49, the interlock display is turned off and the process ends (step S45).
[0100]
FIG. 18 shows the worker in the aisle determined by the RCU 21 based on the detection and non-detection states of the sensor units IP0a and IP0b and the human body sensor PD0 based on the interlock control operation when leaving the above-described work aisle. The presence / absence of the presence / absence and whether or not the passage can be opened / closed are described.
[0101]
That is, as described with reference to FIG. 12, when the sensor units IP0b and IP0a sequentially change from the non-detection state to the detection state, and then sequentially change from the detection state to the non-detection state, the RCU 21 causes the worker WM to move from the work passage. Judge that he left.
[0102]
If the human body sensor PD0 is in the non-detection state when the predetermined time T1 has elapsed from the time when the sensor unit IP0a is reversed to the non-detection state, the RCU 21 waits for the predetermined time T2 to elapse in the work passage. Therefore, it is determined that no worker WM is present, the interlock is released, and the opening / closing operation with respect to the work passage is enabled.
[0103]
According to the second embodiment described above, when the worker WM enters the work passage and stops based on the detection outputs of the two sensor units IP0a and IP0b, or exits from the work passage. Since it is possible to accurately determine that the worker WM has left the work passage without being confused when stopped, the inside of the work passage is combined with the detection output of the human body sensor PD0. Therefore, it is possible to more accurately detect the presence / absence of the worker WM and to ensure sufficient safety for the worker WM.
[0104]
Here, in the second embodiment, since it is possible to accurately determine that the worker WM has entered the work passage and has left the work passage, for example, the worker WM is incorporated in the RCU 21. If a counter (not shown) is used to count +1 when entering and -1 when leaving, the number of entrances and exits of a plurality of workers with respect to the work path can be managed.
[0105]
19 and 20 show the interlock control operation when the worker WM exits from the work passage shown in FIGS. 16 and 17 in consideration of the count value of the number of entrances and exits of a plurality of workers. The flowchart summarized as follows is shown.
[0106]
That is, in FIG. 19 and FIG. 20, the same step as in FIG. 16 and FIG. 17 is denoted by the same reference numeral, and only the different steps will be described. YES), that is, when it is detected that the worker WM has left the work passage, the RCU 21 determines whether or not the count value is 0 in step S50.
[0107]
If it is determined that the count value is 0 (YES), the RCU 21 proceeds to the process of step S40. If it is determined that the count value is not 0 (NO), the RCU 21 waits for a predetermined time T3 longer than the predetermined time T1 in step S51, and then proceeds to the processing of step S41.
[0108]
FIG. 21 shows that the RCU 21 determines from the detection / non-detection states of the sensor units IP0a, IP0b and the human body sensor PD0 when the count value is not 0, based on the interlock control operation when exiting the work passage described above. The presence / absence of an operator in the passage and whether the passage can be opened or closed are described.
[0109]
As described above with reference to FIG. 12, when the sensor units IP0b and IP0a are sequentially changed from the non-detection state to the detection state, and then sequentially changed from the detection state to the non-detection state, the RCU 21 Judging from leaving.
[0110]
If the human body sensor PD0 is in the non-detection state after the predetermined time T3 longer than the predetermined time T1 from the time when the sensor unit IP0a is reversed to the non-detection state, the RCU 21 causes the predetermined time T2 to elapse. After waiting, it is determined that there is no worker WM in the work passage, the interlock is released, and the work passage can be opened and closed.
[0111]
That is, in the means for determining whether the worker WM enters and leaves the work passage based on the detection outputs of the two sensor units IP0b and IP0a as described above, one person is a plurality of persons or a plurality of persons are one person. Although it is possible to make an erroneous determination and the count value cannot be trusted unconditionally, this count value can be used as an auxiliary condition when releasing the interlock.
[0112]
For this reason, when the count value is not 0 at the time when the worker WM exits the work passage based on the detection outputs of the two sensor units IP0b and IP0a, the normal time T1 is exceeded. Waiting for a long time T3, and if the human body detection sensor PD0 does not enter the detection state within this time, the interlock is released after the elapse of the time T2, and further safety measures are taken.
[0113]
The present invention is not limited to the above-described embodiments, and can be variously modified and implemented without departing from the scope of the invention.
[0114]
【The invention's effect】
As described above in detail, according to the present invention, it is possible to accurately detect the presence / absence of an operator in the work passage without error, to ensure sufficient safety for the worker, and to quickly obtain a desired work passage. It is possible to provide a very good mobile shelf safety device that can be formed smoothly.
[Brief description of the drawings]
FIG. 1 shows a first embodiment of a mobile shelf safety device according to the present invention, and is a side view for explaining the overall configuration of the mobile shelf device.
FIG. 2 is a top view for explaining the overall configuration of the moving shelf device including the main passage according to the first embodiment.
FIG. 3 is a front view for explaining the arrangement of the human body sensor with respect to the work surface of the movable shelf in the first embodiment.
FIG. 4 is a perspective view illustrating the detailed configuration of the human body sensor in the first embodiment.
FIG. 5 is a perspective view for explaining an example in which the detection area of the human body sensor is changed in the first embodiment.
FIG. 6 is a block configuration diagram for explaining a control system of the movable shelf device in the first embodiment.
FIG. 7 is a flowchart shown for explaining the characteristic operation of the movable shelf device in the first embodiment;
FIG. 8 is a view for explaining the presence / absence of an operator in the passage and the determination of whether the passage can be opened or closed based on the detection result of the sensor according to the first embodiment;
FIG. 9 is a flowchart for explaining an operation when the sensor is in a detection state in a state where the work passage is closed in the first embodiment;
FIG. 10 shows a second embodiment of the safety device for a movable shelf according to the present invention, and is a diagram shown for explaining details of the light emitter and the input / output sensor.
FIG. 11 is a view for explaining a detection result of each sensor when the worker enters the work path in the second embodiment.
FIG. 12 is a view for explaining the detection result of each sensor when the worker leaves the working path in the second embodiment.
FIGS. 13A and 13B are diagrams for explaining an operation of entering and stopping an operator's passage and an operation of leaving and exiting the passage according to the second embodiment.
FIG. 14 is a view for explaining the detection result of each sensor when entering and stopping the worker's passage in the second embodiment;
FIG. 15 is a view for explaining a detection result of each sensor when the worker exits and stops from the worker's passage in the second embodiment;
FIG. 16 is a flowchart for explaining the first half of the interlock control operation when the worker leaves the work passage in the second embodiment;
FIG. 17 is a flowchart for explaining the second half of the interlock control operation when the worker leaves the working passage in the second embodiment;
FIG. 18 is a view for explaining the presence / absence of an operator in the passage and the determination of whether the passage can be opened or closed based on the detection result of the sensor according to the second embodiment;
FIG. 19 is a flowchart shown for explaining the first half of another example of the interlock control operation when the worker leaves the work passage in the second embodiment;
FIG. 20 is a flowchart shown for explaining the second half of another example of the interlock control operation when the worker leaves the work passage in the second embodiment;
FIG. 21 is a view for explaining another example of the presence / absence of the worker in the passage and the determination of whether the passage can be opened / closed according to the second embodiment;
[Explanation of symbols]
11 ... fixed shelf,
12-14 ... moving shelf,
15 ... Rail,
16-18 ... wheels,
19 ... wall,
20 ... Stop mechanism,
21 ... RCU,
22-24 ... Shelf control board,
25 ... main passage,
26. Storage box,
27. Human body detection sensor,
28 ... sensor cover,
29 ... Detection display lamp,
30 ... Power lamp,
31 ... metal fittings,
32 ... management computer,
33 ... Bus line,
M1 to M3 ... motor,
PB0 to PB3 ... passage selection switch,
FL0 to FL3 ... lights,
PD0 to PD3 ... human body sensor,
OP0 to OP3 ... light emitter,
OP0a, OP0b ... light emitting part,
IP0 to IP3 ... Input / output sensors,
IP0a, IP0b ... sensor unit,
LS0-LS3 ... limit switch,
SB0 to SB3 ... Safety bar switch,
CS ... Main power switch,
LP: Indicator lamp.

Claims (1)

A plurality of shelves, each of which has a self-propelled mechanism, are set so as to be movable along the specified rail, and each of the plurality of shelves is moved and controlled, so that a work passage is provided between any shelves. In the movable shelf device to be selectively formed,
Detecting that an operator has passed through the entrance / exit of each work passage selectively formed between the plurality of shelves, and is provided near the entrance / exit of the work passage along the entrance / exit direction of the worker First detection means having a first and a second detection unit,
Second detection means for detecting the presence of an operator in each work passage selectively formed between the plurality of shelves;
Based on the detection results of said first and second detection means, to determine the presence or absence of workers in the work passage being formed, interlocking the working path when it is determined that there worker The state is controlled, and when it is determined that there is no worker, the interlock of the work passage is released. Based on the combination of the detection outputs from the first and second detection units, the worker It is possible to discriminate between the case of entering the work passage, the case of leaving the work passage, the case of entering and stopping the work passage, and the case of exiting and stopping from the work passage. Control means ,
The control means includes
A counter that is counted up when it is determined that the worker has entered the work passage and is counted down when it is determined that the worker has exited from the work passage,
When the count value of the counter is 0, it is formed on the basis of the detection result of the second detection means after the first time has elapsed from the time when the worker has left the work passage. The presence or absence of workers in the working aisle
When the count value of the counter is not 0, the second detection means after the second time longer than the first time has elapsed from the time when the worker has left the work passage is determined. A safety device for a movable shelf, wherein the presence or absence of an operator in a formed work passage is determined based on a detection result .

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