JP4895736B2 - Moving shelf device and control method of moving shelf device - Google Patents

Description

  The present invention relates to a technique for moving a plurality of aligned movable shelves along the alignment direction and appropriately forming a work path between the movable shelves.

  As a conventional mobile shelf device, there is one in which a predetermined plurality of work paths are formed between a plurality of aligned mobile shelves.

  In such a mobile shelf device, when the formation of a work path between desired mobile shelves is instructed, for example, the movement control of each mobile shelf is performed so as to close the existing work path closest to the instructed position. I do.

  Further, a foreign object detection sensor is incorporated in each of the moving shelves. When any foreign object is detected in the existing work path during the movement of each movement shelf, the movement of the movement shelf across the existing work path is prohibited.

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

JP 2006-131387 A

  However, in the moving shelf apparatus as described above, if a foreign object is detected in the work path during the formation of the path, gaps narrower than a predetermined work path width are formed at a plurality of locations.

  And in the conventional movable shelf apparatus, the movement control of each movable shelf which considered the above gaps is not performed. For this reason, there is a possibility that gaps narrower than a predetermined work passage width remain at a plurality of locations.

  If it does so, there exists a problem that it becomes impossible to form the predetermined number of work paths of a predetermined width.

  Therefore, an object of the present invention is to make it possible to form a plurality of preset work passages having a preset width even after an abnormal passage is formed.

The present invention relates to a plurality of movable shelves arranged movably along a predetermined arrangement direction, shelf moving means for moving the respective movable shelves along the predetermined arrangement direction, and the respective movable shelves. Working path detection means for detecting the formation state of a work path of a predetermined width corresponding to the gap, gap detection means for detecting the presence or absence of a gap between the moving shelves in the portion corresponding to each work path, and each work A work passage formation instruction receiving means for receiving a passage formation instruction, and a plurality of preset work paths corresponding to the respective moving shelves are formed in accordance with the instructions received by the work passage formation instruction reception means. And a shelf movement control means for controlling the movement of each movable shelf, the shelf movement control means based on the detection results from the work path detection means and the gap detection means. width less than in the If the normal path is determined to be formed in plural, determines a moving object moving shelves arranged continuously include movable rack sandwiched by the plurality of non-normal path, the movement through the working channel formation instruction reception unit When an instruction to form a work path corresponding to the target moving shelf is received, it is determined which end portion of the movement path instructed to form is closer to the moving target moving shelf in a predetermined arrangement direction, and the movement target movement is determined. Whether or not the work path instructed to form has been formed after at least a part of the shelf that has been determined to be close is moved so as to eliminate the abnormal path if there is the abnormal path determine, if not formed, the ones on the opposite side of the moving object moving rack, so as to move at least a portion so as to eliminate the non-normal path, the solution to the non-normal passage Wherein is performed at least a portion of the movement control of the moving object moving rack to.

In this case, the shelf movement control means by foreign object state detection at the respective working channel that put into movement of each movable rack, the control may be performed so as to stop the movement of the respective movable rack.

The shelf movement control means includes, as the movement target moving shelf, a moving shelf sandwiched between abnormal passages, and is a moving shelf one before the moving shelf adjacent to the predetermined width working passage or arranged. Alternatively, the ones that are continuously arranged until reaching one of the most movable moving shelves may be determined.

  Further, the shelf movement control means may generate a list including the movement target movement shelf at least one of when the power is turned on and when the reset signal is input.

According to another aspect of the present invention, a plurality of preset work passages having a preset predetermined width are formed on a plurality of movable shelves arranged movably along a predetermined arrangement direction. (A) a step of determining whether or not a plurality of abnormal passages having a width less than the predetermined width work passage are formed; b) when it is determined that a plurality of the abnormal passages are formed, determining a moving target moving shelf continuously arranged including the moving shelves sandwiched by the plurality of abnormal passages; and (c) A step of accepting the formation of the work path; and (d) when the formation of the work path for the movement target moving shelf is accepted, the work path instructed to be formed in any of the movement target moving shelves in the predetermined arrangement direction. Close to the edge Separately, the work that has been instructed to form is moved after at least a part of the movement target moving shelf determined to be close is moved so as to eliminate the abnormal path if there is the abnormal path. It is determined whether or not a passage is formed, and if it is not formed, the opposite side of the movement target moving shelf is moved at least partially so as to eliminate the abnormal passage, Moving at least a part of the movement target moving shelf so as to eliminate the abnormal path.

  According to the movable shelf apparatus of the present invention, the shelf movement control means includes a plurality of abnormal passages having a width different from the work passage having the predetermined width based on detection results from the work passage detection means and the gap detection means. When it is determined that a movement target moving shelf that is continuously arranged including the moving shelf sandwiched between the abnormal passages is determined, the movement target moving shelf is handled through the work passage formation instruction receiving unit. When an instruction for forming a work path is received, movement control of the movement target moving shelf is performed so as to eliminate the abnormal path, so that the abnormal path is eliminated and a work path having a predetermined width is formed. Therefore, even after the abnormal work passage is formed, a plurality of preset work passages having a preset width can be formed.

  Further, when the shelf movement control means controls to stop the movement of each movable shelf by detecting an abnormal state in each work passage, an abnormal passage is formed by detecting an abnormality in the middle of forming the work passage. Therefore, the merit of eliminating the abnormal passage as described above is great.

  The shelf movement control means includes, as the movement target moving shelf, a moving shelf sandwiched between abnormal passages, and is a moving shelf one before the moving shelf adjacent to the predetermined width working passage or arranged. In addition, when it is determined that the items are continuously arranged until reaching the endmost movable shelf, in many cases of forming a work passage with a predetermined width, it is possible to eliminate the abnormal passage and form a work passage with a predetermined width. .

  Further, when the shelf movement control means generates a list including the movement target moving shelf at least one of when the power is turned on and when a reset signal is input, an abnormal path is already present when the moving shelf is forcibly moved or when the power is turned on. Even in some cases, the abnormal passage can be eliminated.

  Further, according to the control method of the movable shelf apparatus according to another invention, (a) determining whether or not a plurality of abnormal passages having a width different from the work passage having the predetermined width are formed; When it is determined that a plurality of abnormal passages are formed, a step of determining moving target moving shelves continuously arranged including the moving shelves sandwiched by the abnormal passages; and (c) forming a work passage. And (d) a step of moving the movement target moving shelf so as to eliminate the abnormal path when accepting the formation of a work path for the moving target moving shelf. The passage is eliminated and a working passage having a predetermined width is formed. Accordingly, it is possible to form a plurality of preset work passages having a preset width.

  Hereinafter, the movable shelf apparatus and its control method according to the embodiment will be described.

<Overall explanation>
First, the overall configuration of the moving shelf device will be described. FIG. 1 is an explanatory view showing a moving shelf device.

  The movable shelf apparatus includes a plurality of movable shelves 10 that are movably arranged along a predetermined arrangement direction. More specifically, rails 12 are laid along a predetermined direction on the floor surface of the area where the movable shelves 10 are arranged, and the movable shelves 10 are reciprocally movable along the rails 12. It is installed.

  Each movable shelf 10 includes a drive motor 29 as a shelf moving means for moving them along a predetermined arrangement direction (see FIG. 2). The driving motor 29 drives the wheels on the rails 12 so that each movable shelf 10 reciprocates on the rails 12 along the predetermined arrangement direction.

  By appropriately moving each of these movable shelves 10, a predetermined work path 14 having a predetermined width is set between the movable shelves 10 and between the movable shelves 10 and a fixing member (here, a wall surface) nearby. A plurality of can be formed. The work passage 14 is associated with each movable shelf 10.

  Further, on one side outer surface of each movable shelf 10, a passage formation switch 10 a is provided as work passage formation instruction receiving means for receiving instructions for forming each work passage 14. Each passage forming switch 10a is associated with each work passage. Then, by operating one of these passage formation switches 10a, each movable shelf 10 moves, and a work passage 14 corresponding to the one passage formation switch 10a is formed.

  In this state, when another passage forming switch 10a is operated, each moving shelf 10 moves so as to close the currently formed working passage 14, and corresponds to the next operated passage forming switch 10a. A working passage 14 is formed.

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

  This moving shelf apparatus includes a main control unit 20 and a plurality of sub-control units 24 as means for controlling the movement of each moving shelf 10, and the main control unit 20 and the sub-control unit 24 communicate with each other. It is configured to be able to communicate with each other via the line 23.

  For example, the main control unit 20 is provided on any one of the movable shelves 10, and here, is provided on the movable shelf 10 on one end side in the arrangement direction. Each sub-control unit 24 is provided in each moving shelf 10. The main control unit 20 controls the entire moving shelf apparatus while the main control unit 20 and each sub control unit 24 perform mutual communication, and each sub control unit 24 performs individual control of each moving shelf 10. . That is, the main control unit 20 and the sub control unit 24 cooperate to function as a movement control unit that performs movement control of each moving shelf 10 as a whole. Of course, not limited to the above example, the main control unit 20 is omitted, and the control unit provided in each moving shelf 10 performs mutual communication and performs cooperative control, while performing overall movement control and each movement of the moving shelf device. The movement control of the shelf 10 may be performed, and a single centralized control unit that performs the overall control of the apparatus and the control of each movement shelf 10 in a centralized manner is performed by any one of the movement shelves 10 or other You may provide in a location.

  The main control unit 20 is constituted by, for example, a CPU, a ROM, a RAM, and the like, and controls the operation of the entire apparatus using a software program stored in advance. The main control unit 20 is connected to the storage unit 21. The storage unit 21 is configured to store rewritable range data, which will be described later, in a rewritable manner, and when the power is turned off or a reset signal is input through a reset switch or the like, the storage unit 21 The rose range data stored in 21 is temporarily deleted and new rose range data is stored.

  The main control unit 20 mainly executes the following two processes. The first is processing for generating and updating rose range data by receiving a shelf interval detection signal and a shelf proximity signal given from the sub-control unit 24 of each movable shelf 10. Second, based on the shelf interval detection signal, the shelf proximity signal, the passage formation instruction signal, and, if necessary, the rose range data given from the sub-control unit 24 of each movable shelf 10, This is a process of determining a moving direction, a moving timing, and the like and giving a predetermined command necessary for forming the work path 14 to each sub-control unit 24 based on the determined contents. These specific contents will be described in detail later.

  The sub control unit 24 is constituted by, for example, a CPU, a ROM, a RAM, and the like, and performs movement control of each moving shelf 10 by a software program stored in advance.

  More specifically, the sub control unit 24 can communicate with the other sub control unit 24 and the main control unit 20 via the communication line 23. The sub-control unit 24 is connected to a passage formation switch 10a, an inter-shelf abnormality detection unit 26, a work passage detection unit 27, and a shelf proximity switch 28, and signals from these are input. . Further, the control signal from the sub-control unit 24 is output to the drive motor 29 side.

  The passage forming switch 10 a is configured by a general push switch or the like, and is provided corresponding to each work passage 14. When the passage forming switch 10a is operated, the operation signal is given to the sub-control unit 24, and a work passage forming instruction is received. Two passage forming switches 10a are provided corresponding to the working passages 14 on both sides of the movable shelf 10 on one end side along the predetermined arrangement direction. With respect to the other movable shelves 10, one passage forming switch 10a is provided corresponding to the work passage 14 on one side along the predetermined arrangement direction.

  The shelf proximity switch 28 is a switch that detects whether or not each movable shelf 10 is adjacent to the adjacent movable shelf 10 or a wall surface, and other foreign objects, and is realized by a configuration using a limit switch, for example. The Then, when proximity to any object is detected during the movement of each movable shelf 10, the detection result is given to the sub-control unit 24. The shelf proximity switch 28 functions as a gap detection unit that detects the presence or absence of a gap at a portion corresponding to each work path 14. The gap does not include a slight gap that is normally formed between the movable shelves 10 in a state where the work path 14 is formed. The shelf proximity switch 28 may have a configuration using a magnet sensor, another contact or non-contact proximity sensor, an optical sensor, or the like in addition to a configuration using a limit switch.

  The inter-shelf abnormality detection unit 26 detects foreign matter between the moving shelves 10 and the like, and is configured by, for example, a contact sensor using a limit switch or the like, an optical sensor, or a combination thereof. . This inter-shelf abnormality detection unit 26 is particularly used for foreign matter detection other than the portion where the shelf proximity switch 28 is installed. When a foreign object such as a work table or a person is detected between the movable shelves 10 or the like, the detection result is given to the sub-control unit 24.

  The shelf proximity switch 28 and the inter-shelf abnormality detection unit 26 are configured to detect a foreign object or an adjacent moving shelf 10 or the like when each moving shelf 10 moves bidirectionally along a predetermined arrangement direction. Are provided on both sides of the movable shelf 10 along the arrangement direction.

  The work path detector 27 is means for detecting whether or not a work path 14 having a predetermined width corresponding to the movable shelf 10 has been formed. Here, the work path detection unit 27 rotatably connects two bar-shaped members, and both ends thereof are rotatably connected to the upper part of the movable shelf 10, and an angle formed by the two bar-shaped members is determined by an encoder or the like. It is configured to detect by using (see FIG. 1). According to the work path detection unit 27, when the interval between the adjacent movable shelves 10 changes, the angle formed by the two bar-like members changes accordingly. Therefore, the angle formed by the two rod-shaped members is detected using an encoder, a limit switch, or the like, and it is detected whether a work passage 14 having a predetermined width is formed between the adjacent movable shelves 10 according to the detection result. It is configured.

  In addition, regarding the moving shelf 10 on one end side along the arrangement direction, since it is necessary to detect whether or not the work passage 14 is formed on both sides along the predetermined arrangement direction, 2 on both sides along the predetermined arrangement direction. Two work path detectors 27 are provided. With respect to the other movable shelves 10, one work path detection unit 27 is provided to detect whether or not the work path 14 is formed on one side along a predetermined arrangement direction.

  Then, as described above, the detection signals from the shelf proximity switch 28, the inter-shelf abnormality detection unit 26 and the work path detection unit 27, and the path formation instruction signal from the path formation switch 10a are input to the sub-control unit 24. At the same time, it is also given to the main controller 20 via the communication line 23.

  The sub-control unit 24 moves the movable shelf 10 in a predetermined direction at a predetermined movement timing by driving a drive motor 29 through a drive circuit (not shown) according to a command from the main control unit 20. . When the presence of a foreign object or the presence of the movable shelf 10 or the wall surface in the forward direction of movement is determined based on the detection signals from the shelf proximity switch 28 and the inter-shelf abnormality detection unit 26, the movement of the movable shelf 10 is stopped. .

  In this stop state, the movable shelf 10 corresponding to the operated passage forming switch 10a is once in an interlock state, and subsequent movement is prohibited. Further, when the passage formation switch 10a is pushed again during the movement of each of the movement shelves 10, the movement of the respective movement shelves 10 is stopped, and the movement shelf 10 corresponding to the operated passage formation switch 10a is temporarily set in the interface. Become locked. These interlock states are released by inputting an interlock release instruction again through the passage formation switch 10a and the like, and the subsequent movement is allowed.

  As a result, the main control unit 20 and the sub control unit 24 form a plurality of preset work paths 14 corresponding to the respective movement shelves 10 in accordance with instructions received by the path formation switch 10a as the normal movement process. Thus, movement control of each moving shelf 10 is performed. In addition, when it is determined that a plurality of abnormal passages having a width different from the work passage 14 having the predetermined width are formed, the clearance elimination movement processing is continued including the moving shelf 10 sandwiched by the abnormal passages. When the movement target moving shelves arranged in parallel are determined and an instruction for forming the work path 14 corresponding to the movement target moving shelf is received through the path forming switch 10a, the movement control of the movement target moving racks is performed so as to eliminate the abnormal path. These processes will be described in detail next.

<Description of operation>
The operation of the moving shelf device will be described. In explaining the operation of the movable shelf, the correspondence between the movable shelf 10, the work path 14, the path formation switch 10a, the work path detection unit 27, and the shelf proximity switch 28 will be described for easy understanding. FIG. 3 is a diagram for explaining the corresponding relationship.

  That is, a plurality (11 in this case) of moving shelves 10 (1), 10 (2),..., 10 (11) are movably arranged along a predetermined arrangement direction. The numbers in parentheses after the sign “10” indicating each moving shelf are assigned in ascending order sequentially from one side (in the order from right to left in FIG. 3) along a predetermined arrangement direction. Has been.

  In addition, work passages 14 (0), 14 (1), 14 (2),... Having predetermined widths corresponding to the movable shelves 10 (1), 10 (2),. 14 (11) can be formed in a predetermined plural (here, three). That is, the length of the rail 12 (the total distance that each movable shelf 10 can move) is the width of each movable shelf 10 (1), 10 (2),..., 10 (11) in a predetermined arrangement direction. The predetermined number (three in this case) of the work passages 14 (0), 14 (1), 14 (2),... It is the sum of the multiplied lengths.

  The work passages 14 (0), 14 (1), 14 (2),..., 14 (11) are between the movable shelves 10 (1), 10 (2),. The movable shelves 10 (1) and 10 (11) are formed between each of the movable shelves 10 (1) and 10 (11) and surrounding fixing members (which may be wall surfaces, fixed frames, or the like here). That is, the work paths 14 (0), 14 (1), 14 (2),..., 14 (11) are connected to the movable shelves 10 (1), 10 (2),. A number is formed by adding one to the total number. In FIG. 3, the reference numerals are given to the positions where these work paths 14 (0), 14 (1), work paths 14 (2),. is doing.

  These work paths 14 (0), 14 (1), 14 (2),..., 14 (11) are respectively movable shelves 10 (1), 10 (2),. Is associated with. Here, the work paths 14 (0) and 14 (1) are associated with the movable shelf 10 (1), the work path 14 (2) is associated with the movable shelf 10 (2), and the work path 14 (3) is represented. Corresponding to the moving shelf 10 (3) in the same manner. That is, each movable shelf 10 (1), 10 (2),..., 10 (11) and the work path 14 (1), 14 (2),. Are associated with each other, and the moving shelf 10 (1) at one end is also associated with the adjacent work path 14 (0) on the other side.

  In the above example, all the movable shelves 10 (1), 10 (2),..., 10 (11) move, but the movable shelves 10 (1 ), 10 (11) may be fixed shelves. For example, when the movable shelf 10 (1) on one end side in the arrangement direction is a fixed shelf, the work path 14 (0) and its association are of course omitted.

  Further, on one side surface of each movable shelf 10 (1), 10 (2),..., 10 (11), passage forming switches 10a (0), 10a (1), 10a (2),. ., 10a (11) are provided. The passage forming switches 10a (0) and 10a (1) are provided on the movable shelf 10 (1) on one end side in the arrangement direction, and the passage forming switches 10a (2),. The movable shelves 10 (2), ..., 10 (11) are provided. The passage forming switches 10a (0), 10a (1), 10a (2),..., 10a (11) are connected to the working passages 14 (0), 14 (1), 14 (2),. ., 14 (11), respectively. As described above, by operating one of the passage formation switches 10a (0), 10a (1), 10a (2),..., 10a (11), the corresponding work passage 14 (0), 14 (1), 14 (2),..., 14 (11) are formed so that the movable shelves 10 (1), 10 (2),. ) Movement control is performed.

  In addition, corresponding to the work paths 14 (0), 14 (1), 14 (2),..., 14 (11), the work path detectors 27 (0), 27 (1), 27 ( 2), ... 27 (11) and shelf proximity switches 28 (0), 28 (1), 28 (2),..., 28 (11) are provided. In FIG. 3, shelf proximity switches 28 (0), 28 (1), 28 (2),..., 28 (11) necessary for explaining this control are shown, and the others are omitted. Yes. These work path detectors 27 (0), 27 (1), 27 (2),. 27 (11) and the shelf proximity switches 28 (0), 28 (1), 28 (2),..., 28 (11) are detected signals corresponding to the respective work paths 14 (0), 14 ( 1), 14 (2),..., 14 (11) are given to the sub-control units 24 of the movable shelves 10 (1), 10 (2),. .

  Then, the main control unit 20 includes work path detection units 27 (0), 27 (1), 27 (2),. 27 (11) and shelf proximity switches 28 (0), 28 (1), 28 (2),..., 28 (11) based on the detection results, the respective work paths 14 (0), 14 (1) , 14 (2),..., 14 (11) are formed in the working passages 14 (0), 14 (1), 14 (2),. The presence / absence and presence / absence of a gap (presence / absence of an abnormal passage) are determined. Based on the determination result and the instruction contents received by the passage formation switches 10a (0), 10a (1), 10a (2),..., 10a (11), the work passage 14 ( 0), 14 (1), 14 (2),..., 14 (11), so that the movable shelves 10 (1), 10 (2),. Take control.

  Based on the above, the operation of the present moving shelf device will be described. FIG. 4 is a flowchart showing the operation of the moving shelf device.

  First, the operator operates any one of the passage forming switches 10a (0), 10a (1), 10a (2),..., 10a (11) as shown in step S1. , 14 (11) is received and given to the main control unit 20. The passage forming instructions for the predetermined work passages 14 (0), 14 (1), 14 (2),.

  In the next step S2, the main control unit 20 moves the movable shelf 10 (1) corresponding to the work passages 14 (0), 14 (1), 14 (2),. ), 10 (2),..., 10 (11) are discriminated whether or not they are gap clearance movement target moving shelves. This clearance elimination target moving shelf is determined by the rose range list. The rose range list is generated when a plurality of abnormal passages having different widths from the work passages 14 (0), 14 (1), 14 (2),. It is a list that is updated and is a list that includes moving shelves 10 (1), 10 (2),..., 10 (11) to be moved to eliminate the abnormal passage. This loose range list is generated when the moving shelf device is turned on, when a reset signal is input, or when an abnormal path is created as will be described later, and the position or number of abnormal paths changes. It will be updated. The contents of the generation and update of the rose range list will be specifically described later.

  Here, when it is a clearance elimination movement object moving shelf (when there is no abnormal passage), it progresses to Step S3, performs normal movement processing, and ends processing.

  On the other hand, when it is a clearance clearance movement object moving shelf (when there are a plurality of abnormal passages), the process proceeds to step S4, a clearance clearance movement process is executed, and the process ends.

  FIG. 5 is a flowchart showing the normal movement processing operation of the moving shelf device.

  When the normal movement process is started, first, in step S11, the main control unit 20 causes the work paths 14 (0), 14 (1), 14 (2),..., 14 (11) to be closed. To decide. For example, the existing work paths 14 (0), 14 (1) closest to the work paths 14 (0), 14 (1), 14 (2),. , 14 (2),..., 14 (11) are determined to be closed. Here, the determination of being close is made not by the actual distance but by the number of moving shelves 10 (1), 10 (2),. When the existing work paths 14 (0), 14 (1), 14 (2),..., 14 (11) are equidistant on the left and right, either may be selected.

  Next, proceeding to step S12, the main control unit 20 determines the movement target, movement direction, movement timing, and the like of each movable shelf 10 (1), 10 (2),..., 10 (11). For example, work passages 14 (0), 14 (1), 14 (2),..., 14 (11) to be closed, and work passages 14 (0) and 14 (1) instructed to form a passage. , 14 (2),..., 14 (11), the moving shelves 10 (1), 10 (2),.

  In the next step S13, the main control unit 20 gives a movement instruction to each sub-control unit 24 according to the content determined in step S12. Thereby, each movement shelf 10 (1), 10 (2), ..., 10 (11) starts a movement according to the said instruction | indication.

  In the next step S14, the main control unit 20 determines whether or not there is an emergency stop. That is, at the stage before the work paths 14 (0), 14 (1), 14 (2),..., 14 (11) are formed at the position where the path formation is instructed, When a foreign object or the like is detected by the abnormality detection unit 26, an emergency stop is performed, and each of the movable shelves 10 (1), 10 (2),. Here, if there is no emergency stop, the process proceeds to step S15.

  In step S15, work paths 14 (0), 14 (1), 14 (2),..., 14 (11) are formed at the position where the path formation is instructed, and the end of the path formation is recognized. Note that the movable shelves 10 (1), 10 (2),... Corresponding to the operated passage forming switches 10a (0), 10a (1), 10a (2),. , 10 (11) are once in an interlock state. This interlock state is released by inputting an interlock release instruction and becomes movable by the next operation input.

  On the other hand, if it is determined in step S14 that there is an emergency stop, the movement of each of the movable shelves 10 (1), 10 (2),. As a result, the abnormal passages that are less than the predetermined width in the work passages 14 (0), 14 (1), 14 (2),... Will be formed.

  In this case, the process proceeds to step S16. In step S16, an abnormal passage narrower than the predetermined width is formed at the position where the passage is instructed, and it is recognized that the passage is being formed. In this state, the emergency stop state is canceled by removing the foreign matter. Further, the movable shelves 10 (1), 10 (2),... Corresponding to the operated passage forming switches 10a (0), 10a (1), 10a (2),. , 10 (11) are once in an interlock state. This interlock state is released by inputting an interlock release instruction and becomes movable by the next operation input.

  After step S15 and step S16, the process proceeds to step S17. In step S17, the main control unit 20 generates and updates the rose range list. That is, the moving shelves 10 (1), 10 (2),..., 10 (10) in the middle of forming the work passages 14 (0), 14 (1), 14 (2),. When 11) stops, a plurality of abnormal passages different from the predetermined width are formed. As described above, the rose range list is a list including the moving shelves 10 (1), 10 (2),..., 10 (11) to be moved to eliminate the abnormal path. Specifically, the moving shelves 10 (1), 10 (2),..., 10 (11) arranged continuously including the moving shelves sandwiched between the abnormal paths are determined as the moving target moving shelves. Create and update lists.

  The moving target moving shelves include at least one of the moving shelves 10 (1), 10 (2),... In other words, the movement target movement shelves may include only the movement shelves sandwiched by the abnormal passages among the movement shelves 10 (1), 10 (2),... In the case of 7 (f), the moving shelves 10 (4) and 10 (5)). Further, the movement target moving shelves include moving shelves 10 (1), 10 (2),..., 10 (11) that are sandwiched by an abnormal path, and in the predetermined arrangement direction. A thing outside the abnormal passage may be included (in the case of FIG. 7 (f), moving shelves 10 (3), 10 (4), 10 (5), 10 (6)). Moreover, as a movement object moving shelf, what is pinched | interposed by an abnormal path | route among moving racks 10 (1), 10 (2), ..., 10 (11), and existing work path 14 ( 0), 14 (1), 14 (2),..., 14 (11), one before, or arranged at the farthest moving shelf 10 (1) or 10 (11) It may be one that is continuously lined up to reach (moving shelves 10 (1), 10 (2),..., 10 (7) in the case of FIG. 7F).

  Here, the movement target moving shelf is determined based on the reference described at the last. In addition, according to this standard, when the formation of the work paths 14 (0), 14 (1), 14 (2),... However, since the position may affect the determination of the movement target moving shelf, the rose range list is updated as necessary. The loose range list also includes the shortage of work paths 14 (0), 14 (1), 14 (2),..., 14 (11) to be formed. This rose range list is stored in the storage unit 21. Specific examples of the rose range list will be described in detail later.

  FIG. 6 is a flowchart showing the clearance elimination movement processing operation of the movable shelf device.

  In the gap clearance movement process, as in the case of the normal movement process, the interlock state is detected when a foreign object or an adjacent movement shelf 10 (1), 10 (2),..., 10 (11) is detected. In addition, the interlock is released by inputting the interlock release instruction. These descriptions are omitted below.

  When the clearance elimination movement process is started, first, in step S21, the main control unit 20 instructs the work paths 14 (0), 14 (1), 14 (2),. 14 (11) is determined as to which end (in this case, close to the right end or close to the left end) within the movement target moving shelf in the predetermined arrangement direction. Here, the determination of being close is made not by the actual distance but by the number of moving shelves 10 (1), 10 (2),. Moreover, when the number of moving shelves 10 (1), 10 (2),..., 10 (11) is the same on both the left and right sides, either may be selected. If it is determined that it is close to the left end, the process proceeds to step S22.

  In step S22, the main control unit 20 from the work paths 14 (0), 14 (1), 14 (2),..., 14 (11) instructed to form in the movement target moving shelf. The moving contents (moving target, moving direction, etc.) of each moving shelf 10 (1), 10 (2),..., 10 (11) so as to eliminate the gap (unusual passage) within the left range. To decide. Then, an instruction according to the determined content is given to each sub-control unit 24. Thereby, each movement shelf 10 (1), 10 (2), ..., 10 (11) moves. In step S22, if there is no gap (unusual passage) in the left range and the moving process of each moving shelf 10 (1), 10 (2),..., 10 (11) cannot be performed, This step is finished.

  Thereafter, in step S23, the main control unit 20 determines whether or not the work paths 14 (0), 14 (1), 14 (2),..., 14 (11) instructed to be formed have been formed. Is determined. Here, if it is determined that the work passages 14 (0), 14 (1), 14 (2),..., 14 (11) having a predetermined width are formed at the instructed position, the process proceeds to step S25. Proceed to update the rose range list and end the process.

  On the other hand, when it is determined in step S23 that work paths 14 (0), 14 (1), 14 (2),..., 14 (11) having a predetermined width are not formed at the designated position. The process proceeds to step S24.

  In step S24, the main control unit 20 from the work paths 14 (0), 14 (1), 14 (2),..., 14 (11) instructed to form in the movement target moving shelf. The moving contents (moving target, moving direction, etc.) of the moving shelves 10 (1), 10 (2),..., 10 (11) so as to eliminate the gap (unusual passage) within the right side range. To decide. Then, an instruction according to the determined content is given to each sub-control unit 24. As a result, the movable shelves 10 (1), 10 (2),... 2), ..., 14 (11) are formed.

  Thereafter, the process proceeds to step S25, the rose range list is updated, and the process is terminated.

  On the other hand, if it is determined in step S21 that it is close to the right end, the process proceeds to step S26, and the processes of steps S26, S27, S28, and S25 are performed. The processes in steps S26, S27, S28, and S25 are processes performed by reversing the processes in steps S22, S23, S24, and S25 from left to right.

  When such clearance clearance movement processing is normally performed, a clearance corresponding to the width of one work passage 14 (0), 14 (1), 14 (2),..., 14 (11) is eliminated. Instead, new work passages 14 (0), 14 (1), 14 (2),..., 14 (11) are formed.

  Hereinafter, the above operation will be described in more detail with reference to specific movement contents of each of the moving shelves 10 (1), 10 (2),... In the following figures, an example of movement of each moving shelf 10 (1), 10 (2),..., 10 (11) is shown on the left side of the figure, and an example of a rose range list is shown on the right side of the figure. ing. In addition, the numbers given to the upper left corners of the moving shelves 10 (1), 10 (2),..., 10 (11) are the moving shelves 10 (1), 10 (2),. 11) indicates the number in parentheses. Moreover, the triangular mark attached | subjected to the downward both ends of moving shelf 10 (1), 10 (2), ..., 10 (11) is moving shelf 10 (1), 10 (2), ...,. 10 (11) shows both ends of the moving range, and the range indicated by B indicates that determined as the moving target moving shelf. In addition, crescent-shaped marks placed between the upper portions of the movable shelves 10 (1), 10 (2),..., 10 (11) are work passages 14 (0) and 14 (1) having a predetermined width. , 14 (2),..., 14 (11) are shown, and the arrows show the positions where the abnormal passages are formed.

  First, referring to FIG. 7 and FIG. 8, a state in which three regular working passages 14 (0), 14 (1), 14 (2),..., 14 (11) are formed. The operation from will be described.

  In the initial state, as shown in FIG. 7A, three work passages 14 (3), 14 (6), and 14 (11) having a predetermined width are formed.

  In this state, the normal movement process (see steps S11 to S15) is performed as follows. When the passage formation switch 10a (8) is operated, the movable shelves 10 (7) and 10 (8) are moved rightward so as to close the nearest work passage 14 (6) as shown in FIG. 7B. I will let you. When the movement of the movable shelves 10 (7) and 10 (8) is completed, a work path (8) is formed at a predetermined position as shown in FIG. 7 (c). In this state, the movable shelf 10 (8) is in an interlocked state (as shown in FIG. 7C, the movable shelf 10 (8) in the interlocked state is in the middle in the vertical direction thereof. As shown in FIG. 7 (d), the interlock is released by operating the passage forming switch 10a (8) again.

  In this state, the process (steps S11 to S14, S16, and S17) when an emergency stop is formed and an abnormal passage is formed is performed as follows. That is, as shown in FIG. 7 (e), when the passage forming switch 10a (5) is operated, the movable shelves 10 (4) and 10 (5) are directed rightward so as to close the nearest work passage 14 (3). Will be moved to. During this movement, as shown in FIG. 7 (f), if any foreign matter is detected between the moving shelves 10 (3) and 10 (4), the moving shelves 10 (4) and 10 (5) being moved are detected. Emergency stop and the movable shelf 10 (5) is in an interlock state. After that, the emergency stop is canceled by removing the foreign matter or the like.

  Then, the rose range list is updated. That is, in the state shown in FIG. 7 (f), the existence of the work paths 14 (8) and 14 (11) is recognized, and the position corresponding to the work paths 14 (3) and 14 (5) is abnormal. The presence of the passage is recognized. Therefore, the moving shelf 10 includes the moving shelves 10 (4) and 10 (5) sandwiched between the abnormal passages and is adjacent to the existing work passages 14 (8) and 14 (11). The one that is continuously arranged until reaching the moving shelf 10 (7) immediately before (8) or the moving shelf 10 (1) or 10 (11) at the end of the array is determined. Here, the moving shelves 10 (1) to 10 (7) are determined as the moving target moving shelves. Then, this determination content, that is, information that “shelf NO.-shelf NO” is “moving shelf 10 (1) to moving shelf 10 (7)” is generated and updated as a rose range list. Further, in this moving shelf device, where three work passages are to be formed, in this state, the existence of the two work passages 14 (8) and 14 (11) is recognized. “1” is registered as the number of rose passages indicating “”.

  In the rose range list, there are items “1”, “2”, and “3” in the vertical direction, assuming that the moving target moving shelf is determined in a plurality of ranges.

  For reference, after the abnormal passage is formed as described above, when the foreign substance is removed to release the emergency stop and the movement process is performed without releasing the interlock, FIGS. As shown in (i), the clearance elimination moving process cannot be processed normally, and is as follows.

  That is, as shown in FIG. 8G, after the emergency stop is canceled, the passage forming switch 10a (2) is operated as shown in FIG. 8H. Then, as shown in FIG. 8 (i), since there is no abnormal path on the right side of the position corresponding to the work path 14 (2), the movement target moving rack (the moving racks 10 (1) to 10 (7)). The movement control is performed on the left side of the position corresponding to the work path 14 (2). Here, since the movable shelf 10 (5) cannot be moved in the interlocked state, the movable shelf 10 (3) is moved in front of it, that is, the movable shelf 10 (3). Then, the moving shelf 10 (3) is moved to the left so as to eliminate the abnormal passage at the position corresponding to the work passage 14 (3). Then, the movable shelf 10 (3) moves until it approaches the movable shelf 10 (4), and an abnormal passage is formed at a position corresponding to the work passage 14 (2).

  Also in this case, although the rose range list is updated, the moving target moving shelves are “moving shelves 10 (!) To moving shelves 10 (7)”, and the number of loose passages is “1”. Remains the same.

  Thereafter, the clearance elimination movement process (see step S21 to step S25) is performed as follows.

  That is, as shown in FIG. 8 (j), the interlock of the movable shelf 10 (5) is released. Thereafter, the passage forming switch 10a (6) is operated as shown in FIG. In this case, there is no abnormal passage on the left side of the movement target moving shelf (moving shelves 10 (1) to 10 (7)) corresponding to the work passage 14 (6). In view of this, the abnormal passage is eliminated by targeting the range on the right side of the movement target moving shelf (moving shelves 10 (1) to 10 (7)) from the position corresponding to the work passage 14 (6). Here, the moving shelves 10 (3), 10 (4), 10 (5), and 10 (6) are directed to the right so as to eliminate the abnormal paths corresponding to the work paths 14 (2) and 14 (5). Will be moved to. And each movable shelf 10 (3), 10 (4), 10 (5), 11 (6) is between 10 (2), 10 (3), 10 (4), 10 (5) on the right side. When the gaps are sequentially moved until there is no gap, a normal width work passage 14 (6) is formed as shown in FIG. Thereafter, the movement range moving shelf is deleted, and the rose range list is updated so that there is no number of loose passages.

  Another movement example of the clearance elimination movement process (see step S21 to step S25) is as follows.

  That is, as shown in FIG. 9 (m), after the interlock of the movable shelf 10 (6) is released, the passage forming switch 10a (2) is operated as shown in FIG. 9 (n). Then, the moving shelves 10 (3), 10 (4), 10 (5), and 10 (6) move to the left so as to close the work passage 14 (6). During the movement, if the movement stops due to the presence of foreign matter or the passage forming switch 10a (2) being re-operated, etc., as shown in FIG. 9 (o), it corresponds to the work paths 14 (2) and 14 (6). An abnormal passage is formed at the position where In this case, according to the determination criterion of the movement target moving shelf described above, the moving shelves 10 (1) to 10 (7) are determined as the movement target moving shelves. Also, “1” is determined as the number of loose passages. These determination contents are each updated to the rose range list.

  Thereafter, as shown in FIG. 9 (p), the interlock of the movable shelf 10 (2) is released, and the passage forming switch 10a (4) is operated as shown in FIG. 9 (q). In this case, the planned formation position of the work passage 14 (4) is close to the left end in the movement target moving shelf range. Therefore, first, the abnormal passage is resolved with the left range as a target. Here, the movable shelves 10 (5) and 10 (6) are moved leftward so as to eliminate the abnormal passage corresponding to the work passage 14 (6). Even after such movement, the work passage 14 (4) having a predetermined width has not been formed, so that the abnormal passage is eliminated by targeting the range on the right side of the planned formation position of the work passage 14 (4). . Here, the movable shelves 10 (3) and 10 (4) are moved rightward so as to eliminate the abnormal path corresponding to the work path 14 (2). After this movement, as shown in FIG. 9 (r), the formation of the work passage 14 (4) having a predetermined width is completed.

  The general clearance elimination operation of the moving shelf device is performed as described above. By the way, when the mobile shelves 10 (1), 10 (2),..., 10 (11) are forcibly moved, there is a risk that a deviation may occur between the actual state and the rose range list. There is. Therefore, in such a case, by turning on the power again after the power is turned off, the loose range list is once deleted and newly generated. 10 to 15, an example of creating a rose range list when the power is turned on again and an abnormal path elimination process will be described. Of course, the processing described here can be similarly performed by performing a reset operation regardless of whether the power is on or off.

  FIG. 10A is a diagram showing a case where the power is turned on in a state in which work passages 14 (3), 14 (6), and 14 (11) having a predetermined width are formed. In this case, it is recognized that three work passages 14 (3), 14 (6), and 14 (11) having a predetermined width are formed, there is no moving target moving shelf, and there is no number of loose passages. be registered. Thereafter, the passage forming switches 10a (0), 10a (1), 10a (2),..., 10a (11) are appropriately operated to perform normal movement processing.

  FIG. 10B shows a state in which work passages 14 (8) and 14 (11) having a predetermined width are formed, and abnormal passages are formed at positions corresponding to the work passages 14 (3) and 14 (5). It is a figure which shows the case where a power supply is turned on. In this case, the moving shelves 10 (1) to 10 (7) are determined as the moving target moving shelves in accordance with the determination criteria for the moving target moving shelves described above. Also, “1” is determined as the number of loose passages. Each of these determination contents is registered in the rose range list. Thereafter, the clearance forming movement processing is performed by appropriately operating the passage forming switches 10a (0), 10a (1), 10a (2),..., 10a (11).

  In FIG. 10C, a work passage 14 (9) having a predetermined width is formed, and the work passages 14 (0), 14 (2), 14 (3), 14 (4), 14 (5), 14 (6) ) Is a diagram showing a case where the power is turned on in a state where an abnormal passage is formed at a position corresponding to (). In this case, the moving shelves 10 (1) to 10 (8) are determined as the moving target moving shelves in accordance with the determination criteria for the moving target moving shelves described above. That is, when three or more abnormal passages are formed, the moving shelves 10 (1), 10 (2),..., 10 (11) are based on the abnormal passages at both ends. The movement target moving shelf is determined so as to include the one sandwiched between the abnormal paths at both ends. Also, “2” is determined as the number of loose passages. Each of these determination contents is registered in the rose range list.

  Thereafter, when the passage forming switch 10a (5) is operated, the clearance elimination moving process is executed. Here, first, as shown in FIG. 10 (d), the left movable shelf 10 (6) at the position corresponding to the work path 14 (5) corresponding to the path forming switch 10a (5) moves leftward. In this post-movement state, the formation of the work path 14 (5) has not yet been completed. Next, as shown in FIG. 10E, the right moving shelf at the position corresponding to the work path 14 (5). 10 (1), 10 (2), 10 (3), 10 (4), 10 (5) move to the right. Then, as shown in FIG. 11 (f), the movable shelves 10 (1), 10 (2), 10 (3), 10 (4), 10 (5) are the front wall surface or the movable shelf 10 (1) in the moving direction. ), 10 (2), 10 (3), 10 (4), or when the work path 14 (5) having a predetermined width is formed, the movable shelves 10 (1), 10 (2), 10 The movement of (3), 10 (4), 10 (5) stops. Thereby, it will be in the state where work passages 14 (5) and 14 (9) were formed. Then, the rose range list is updated. Here, the moving shelves 10 (1) to 10 (4) are determined as the moving target moving shelves, and “1” is determined as the number of loose passages. These determination contents are each registered and updated in the rose range list. In this state, since the movable shelf 10 (5) is in the interlocked state, the interlocked state is released as shown in FIG. 11 (g).

  Thereafter, when the passage forming switch 10a (2) is operated, the clearance elimination moving process is executed again. Here, first, as shown in FIG. 11 (h), the left moving shelves 10 (3) and 10 (4) at positions corresponding to the work path 14 (2) corresponding to the path forming switch 10a (2) are provided. Move left. Thereby, as shown in FIG.11 (i), the working path 14 (2) is formed. Then, the rose range list is updated. Here, registration and updating are performed assuming that there are no moving target moving shelves and there is no number of loose passages.

  In this state, since the movable shelf 10 (2) is in the interlock state, when this interlock state is released, the state is as shown in FIG. 11 (j).

  12 and 13 are diagrams illustrating a case where the power is turned on in a state where there is no work passage having a predetermined width.

  That is, in FIG. 12A, the work passages 14 (0), 14 (2), 14 (3), 14 (4), 14 (5), 14 (6), 14 (9), 14 (11) An abnormal passage is formed at each position corresponding to. When the power is turned on in this state, the moving shelves 10 (1) to 10 (11) are determined as the moving target moving shelves according to the determination criteria, and “3” is determined as the number of loose passages. Are determined in the rose range list.

  When the passage forming switch 10a (7) is operated in this state, as shown in FIG. 12B, the movable shelves 10 (7), 10 (8), 10 (9), 10 (10), 10 (11 ) Moves to the left, and a work path 14 (7) is formed as shown in FIG. In this state, abnormal passages are formed at positions corresponding to the work passages 14 (0), 14 (2), 14 (3), 14 (4), 14 (5), and 14 (6). Therefore, the moving shelves 10 (1) to 10 (6) are determined as the moving target moving shelves, and “2” is determined as the number of loose passages, and these determination contents are registered and updated in the rose range list. Is done.

  In this state, since the movable shelf 10 (7) is in the interlock state, the interlock is released as shown in FIG.

  For reference, in this state, as shown in FIG. 12 (e), when the passage forming switch 10a (9) is operated, the normal movement process is performed, and the moving shelves 10 (8) and 10 (9) are directed rightward. Moving. Thereby, as shown in FIG.13 (f), the working path 14 (9) is formed. In this state, the work path 14 (7) is closed and the work path 14 (9) is newly formed, and the formation position thereof fluctuates, which affects the rose range list. Therefore, according to the above criteria, the moving shelves 10 (1) to 10 (8) are determined as the moving target moving shelves, and “2” is determined as the number of loose passages. It is registered and updated in the list.

  In the state immediately after the movement, since the movable shelf 10 (9) is in the interlock state, the interlock is released as shown in FIG.

  Thereafter, when the passage formation switch 10a (2) is operated, the movable shelves 10 (1) and 10 (2) move rightward as shown in FIG. 13 (h). Thereby, as shown in FIG.13 (i), the working path 14 (2) is formed. Then, according to the above determination criteria, the moving shelves 10 (4) to 10 (8) are determined as the moving target moving shelves, and “1” is determined as the number of loose passages. It is registered and updated in the list.

  In this state, since the movable shelf 10 (2) is in the interlock state, the interlock is released as shown in FIG. 113 (j).

  Subsequently, when the passage forming switch 10a (4) is operated as shown in FIG. 13 (j), first, as shown in FIG. 13 (k), first, the work passage 14 corresponding to the passage forming switch 10a (4). The moving shelf 10 (4) on the right side of the position corresponding to (4) moves rightward, and then the moving shelves 10 (5) and 10 (6) on the left side of the position move leftward. As a result, as shown in FIG. 14 (l), a work passage 14 (4) is formed. In this state, there is no moving target moving shelf and there is no number of loose passages, and these contents are registered and updated in the rose range list.

  In this state, since the movable shelf 10 (4) is in the interlock state, the interlock is released as shown in FIG. 14 (m).

  15 and 16 are diagrams showing a case where the power is turned on in a state where an abnormal passage is formed at a position sandwiching the work passages 14 (5) and 15 (7) having a predetermined width.

  That is, in FIG. 15A, work passages 14 (5) and 14 (8) are formed, and abnormal passages are formed at positions corresponding to the work passages 14 (3) and 14 (11). When the power is turned on in this state, the moving shelves 10 (1) to 10 (11) are determined as the moving target moving shelves according to the determination criteria. That is, even when the work passages 14 (5) and 14 (8) exist between the abnormal passages at both ends, the determination criterion is not affected. Also, “3” is determined as the number of loose passages. That is, in the exceptional case where the work paths 14 (5) and 14 (8) exist in the movement target movement shelf, the work paths 14 (5) and 14 (8) in the movement target movement shelf are The number of loose passages is determined as an abnormal passage. Then, these determination contents are registered and updated in the rose range list.

  As shown in FIG. 15 (b), when the passage forming switch 10a (7) is operated in this state, first, the movable shelves 10 (8), 10 (9), 10 (10), 10 (11) The work passage 14 (8) is kept moving while moving to the left. Thereby, the abnormal passage at the position corresponding to the work passage 14 (11) is eliminated. Subsequently, as shown in FIG. 15C, the movable shelf 10 (8) moves to the left so as to close the work path 14 (8). Thereby, as shown in Drawing 15 (d), work passage 14 (7) is formed.

  Thereafter, the rose range list is updated. That is, the moving shelves 10 (1) to 10 (11) are determined as the movement target moving shelves, “3” is determined as the number of loose passages, and these determination contents are respectively registered and updated in the rose range list. Is done.

  In this state, since the movable shelf 10 (7) is in the interlock state, the interlock is released as shown in FIG.

  Subsequently, as shown in FIG. 16 (f), when the passage forming switch 10a (4) is operated, first, the moving shelf 10 (4) moves rightward. After this movement, the formation of the work passage 14 (4) is not completed. Then, next, as shown in FIG. 16 (g), the movable shelves 10 (5), 10 (6), 10 (7), 10 (8) pass through the work paths 14 (5), 14 (7). Move left while keeping. Then, the abnormal passage corresponding to the work passage 14 (8) is eliminated, and the formation of the work passage 14 (4) is completed.

  Thereafter, the rose range list is updated. That is, assuming that there is no movement target moving shelf and there is no number of loose passages, these contents are registered and updated in the rose range list.

  In this state, as shown in FIG. 16 (h), the movable shelf 10 (4) is in the interlocked state, so that the interlock is released as shown in FIG. 16 (i).

  That is, when there is no work path 14 (5), 14 (8) having a predetermined width between the movement target movement shelves, movement control is performed so as to eliminate the abnormal path. On the other hand, when the work paths 14 (5) and 14 (8) having a predetermined width exist between the movement target moving shelves, the work paths 14 (5) and 14 existing between the work paths 14 (5) and 14 (8) exist. (8) is assumed as an abnormal passage. When an instruction to form a work path corresponding to the movement target moving shelf is received, each movement is first performed on the right side or the left side of the specified position so as to eliminate the original abnormal path different from the predetermined width. The shelves 10 (1), 10 (2), ..., 10 (11) are moved. Next, the movable shelves 10 (1), 10 (2),..., 10 (11) are moved so as to eliminate what is assumed to be an abnormal passage.

  Of course, even when the work paths 14 (5) and 14 (8) having a predetermined width exist between the movement target moving shelves, the work paths 14 (5) and 14 (8) having the predetermined width are provided. The movement control may be performed so as to eliminate the original abnormal path with the) remaining.

  According to the movable shelf apparatus configured as described above and its control method, the main control unit 20 and each sub-control unit 24 are provided with work path detection units 27 (0), 27 (1), 27 (2),.・. 27 (11) and shelf proximity switches 28 (0), 28 (1), 28 (2),..., 28 (11) based on the detection results, work paths 14 (0), 14 ( 1), 14 (2),..., 14 (11), when it is determined that a plurality of abnormal passages having different widths are formed, the moving shelves 10 (1), 10 (2),. .., 10 (11) to determine the moving target moving shelves continuously arranged including those sandwiched by the abnormal path, and the path forming switches 10a (0), 10a (1), 10a (2),. .. When an instruction to form work paths 14 (0), 14 (1), 14 (2),..., 14 (11) corresponding to the movement target moving shelf is received through 10a (11), an abnormal path is defined. Since the movement control of the movement target moving shelf is performed so as to eliminate, the abnormal path is resolved and the operation of the predetermined width is performed. Passageway 14 (0), 14 (1), 14 (2),..., 14 (11) is formed. Therefore, it is possible to form a preset number of work passages 14 (0), 14 (1), 14 (2),..., 14 (11) having a preset width.

  In particular, in the present moving shelf device, the main control unit 20 and each sub-control unit 24 have a foreign object state in each work path 14 (0), 14 (1), 14 (2),..., 14 (11). By the detection, control is performed so as to stop the movement of each movable shelf 10 (1), 10 (2),..., 10 (11). For this reason, an abnormal passage will be formed by foreign object detection during movement. Therefore, the merit of processing that can eliminate the abnormal passage as described above is great.

  Further, as the movement target moving shelves, the moving shelves 10 (1), 10 (2),..., 10 (11) include those that are sandwiched between the abnormal paths, and the existing work path 14 having a predetermined width. (0), 14 (1), 14 (2),..., 14 (11) adjacent to the moving shelf 10 (1), 10 (2),. Since it is determined what is arranged continuously until it reaches the movable shelves 10 (1), 10 (11) at the end of the arrangement or the arranged endmost movement shelves 14 (0), 14 (1), In many cases forming 14 (2),..., 14 (11), the abnormal passage can be eliminated.

  Further, when the main control unit 20 and each sub-control unit 24 determine that the number of work passages having a predetermined width is less than a predetermined number (here, three), the work passages 14 (0), 14 (1), 14 (2),..., 14 (11) are received, the movement target moving shelf is preferentially located closer to the end in the arrangement direction from the position where the instruction is received. Since the movement control of the movement target moving shelf is performed so as to eliminate the abnormal path, it is possible to easily eliminate the abnormal path sequentially from the end in the movement target moving shelf. The formation range can be narrowed sequentially.

  In the above control, a clearance range list is generated on the basis of the relative relationship between the movable shelves 10 (1), 10 (2),..., 10 (11), and the clearance elimination process is performed. For this reason, when the power is turned on or a reset operation is performed, a rose range list including the moving target moving shelf is newly generated, and the clearance elimination process can be executed. Therefore, even when the mobile shelves 10 (1), 10 (2),..., 10 (11) are forcibly moved or when there is already an abnormal path when the power is turned on, the abnormal path can be resolved. can do.

  Further, a non-volatile memory or the like that can be stored regardless of whether the power is on or off is used as the storage unit 21, and the loose range list may be held even when the power is off.

It is explanatory drawing which shows a movement shelf apparatus. It is a block diagram which shows the electric constitution of a movement shelf apparatus. It is a figure for demonstrating the correspondence of a movement shelf, a work path, a path formation switch, a work path detection part, and a shelf proximity switch. It is a flowchart which shows operation | movement of a movement shelf apparatus. It is a flowchart which shows normal movement process operation | movement. It is a flowchart which shows the clearance clearance movement process operation | movement of a movement shelf apparatus. It is a figure which shows the specific example of a movement of a movement shelf. It is a figure which shows the specific example of a movement of a movement shelf. It is a figure which shows the specific example of a movement of a movement shelf. It is a figure which shows the specific example of a movement of a movement shelf. It is a figure which shows the specific example of a movement of a movement shelf. It is a figure which shows the specific example of a movement of a movement shelf. It is a figure which shows the specific example of a movement of a movement shelf. It is a figure which shows the specific example of a movement of a movement shelf. It is a figure which shows the specific example of a movement of a movement shelf. It is a figure which shows the specific example of a movement of a movement shelf.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Moving shelf 10a Passage formation switch 14 Work passage 20 Main control part 21 Storage part 24 Sub-control part 26 Inter-shelf abnormality detection part 27 Work path detection part 28 Shelf proximity switch 29 Motor for driving

Claims (5)

A plurality of movable shelves arranged movably along a predetermined arrangement direction;
Shelf moving means for moving each moving shelf along the predetermined arrangement direction;
A work path detecting means for detecting a formation state of a work path of a predetermined width corresponding to each moving shelf;
A gap detecting means for detecting the presence or absence of a gap between the respective moving shelves at a portion corresponding to each of the work paths;
Work passage formation instruction receiving means for receiving instructions for forming the respective work passages;
Shelf movement control means for performing movement control of each movable shelf so as to form a plurality of preset work paths corresponding to each movable shelf in response to an instruction received by the work path formation instruction receiving means. When,
With
The shelf movement control means includes
Based on the detection result from said gap detection means and said working channel detecting unit, when an abnormal passage width less than the working channel of the predetermined width is determined to be formed in plurality, the plurality of non Determine moving target moving shelves that are continuously arranged including moving shelves sandwiched by normal passages,
When an instruction to form a work path corresponding to the movement target moving shelf is received through the work path formation instruction receiving unit, the work path instructed to be formed is located at any end in the movement target moving shelf in a predetermined arrangement direction. It is determined whether it is near, and at least a part of the movement target moving shelf that is determined to be close is moved so as to eliminate the abnormal path if there is an abnormal path, and then a formation instruction is given. It is determined whether or not the work path has been formed. If the work path is not formed, at least a part of the movement target moving shelf on the opposite side is moved so as to eliminate the abnormal path. A movement shelf device that performs movement control of at least a part of the movement target movement shelf so as to eliminate the abnormal passage. The mobile shelf device according to claim 1,
It said shelf movement control means by foreign object state detection at the respective working channel that put into movement of each movable shelf is controlled so as to stop the movement of the respective movable rack, mobile shelving system. The mobile shelf device according to claim 1 or 2,
The shelf movement control means includes
As the moving object moving rack comprises a movable rack which is sandwiched by an abnormal passage, and, any one before the moving rack or array of movable rack of the outermost end of the movable rack adjacent to the working channel of the predetermined width A moving shelf device that determines what is lined up continuously until one is reached. It is a movement shelf apparatus in any one of Claims 1-3,
The shelf movement control unit is a moving shelf apparatus that generates a list including the movement target moving shelf at least one of when a power is turned on and when a reset signal is input . The movement control of each of the movable shelves is performed so that a plurality of preset work paths having a predetermined width are formed with respect to the plurality of movable shelves arranged to be movable along a predetermined arrangement direction. A method for controlling a mobile shelf device, comprising:
(A) determining whether a plurality of abnormal passages having a width less than the working passage having the predetermined width are formed;
(B) when it is determined that a plurality of the abnormal paths are formed, determining a moving target moving shelf that is continuously arranged including the moving shelves sandwiched by the plurality of abnormal paths;
(C) accepting the formation of a working passage;
(D) When the formation of a work path for the movement target moving shelf is accepted, it is determined which end portion of the movement path instructed to form is closer to the end of the movement target moving shelf in a predetermined arrangement direction; The work path that is instructed to form is formed after at least a part of the movement target moving shelf that is determined to be close is moved so as to eliminate the abnormal path if there is the abnormal path. And if it is not formed, the opposite side of the movement target moving shelf is moved at least partially so as to eliminate the abnormal path, and the abnormal path Moving at least a part of the moving object moving shelf so as to eliminate
  A method for controlling a mobile shelf device comprising:

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