JP5033528B2 - Safety device - Google Patents

Description

  The present invention relates to a safety device that detects whether an operator or an object is present in a specific area where there is a possibility of danger.

To this type of safety device, move the required unit shelves and open any adjacent unit shelves to selectively form shelf paths. There are safety devices to detect.
In such a moving shelf, when a unit shelf may move to form another shelf path when an operator or an object is in the formed shelf path, the worker or the object may be moved between the unit shelves. In order to prevent an accident from occurring, it is necessary to detect the state of the shelf path whether an operator or an object is present in the shelf path.

For this reason, various devices have been proposed in which photoelectric sensors for detecting the presence of an operator or the like in the shelf passage are arranged on the front surface of the shelf (see, for example, Patent Document 1).
In the apparatus disclosed in Patent Document 1, a light emitting element module composed of at least one light emitting element is connected to be arranged on a shelf front surface, and a light receiving element module composed of at least one light receiving element is connected to face each other. The light emitting element and the light receiving element are arranged so as to face each other on the front surface of the shelf.

  One photoelectric sensor is composed of a pair of light emitting elements and light receiving elements, and the minimum interval at which the photoelectric sensors are arranged is determined based on the width of the shelf path so as not to cause interference between adjacent photoelectric sensors. An operator or an obstacle cannot be detected with high accuracy due to the narrow interval.

  Therefore, there is an example in which an operator or an obstacle is detected by performing a scanning operation of photoelectric sensors arranged at a narrow interval while avoiding interference between the photoelectric sensors (see, for example, Patent Document 2).

  In the device disclosed in Patent Document 2, addresses unique to the sensors arranged in parallel at predetermined intervals on the front surface of the shelf are set apart from each other regardless of the arrangement order, and each sensor is scanned in the order of addresses. The on / off state is detected in the order of addresses.

JP 2004-73257 A Japanese Patent No. 3567979

  According to the configuration disclosed in Patent Document 2, even if the sensors are arranged at a narrow interval, there is no simultaneous operation of the sensors, so there is no mutual interference between the sensors, but workers and obstacles in the shelf path have moved. Sometimes, the sensor to be scanned is moved to avoid accidentally, and detection may be delayed.

  The present invention has been made in view of the above points, and the object of the present invention is to provide a safety device that can accurately and quickly detect an operator or an obstacle in a specific area at a low cost. .

  In order to achieve the above object, the invention according to claim 1 is a photoelectric sensor in which a projector is arranged on one side of opposite sides on both sides of a specific area and a light receiver is arranged on the other side so as to face each other. A plurality of arranged at predetermined intervals along the side, and a control means for controlling the operation of the plurality of photoelectric sensors is provided, the control means divides the plurality of arranged photoelectric sensors into a predetermined number of blocks. At a predetermined time interval, one photoelectric sensor is selected for each block in the order of alignment, and the photoelectric sensor for each selected block is operated simultaneously.

  In the invention according to claim 2, a plurality of unit shelves are guided by rails that are perpendicular to the shelf front surface, and are movably arranged. In a movable shelf that opens between arbitrary adjacent unit shelves and selectively forms a shelf path, a projector is placed on one of the facing front surfaces of the adjacent unit shelves, and a receiver is placed on the other to face each other. A plurality of photoelectric sensors are arranged at predetermined intervals in the depth direction of the shelf path, and a control means for controlling the operation of the plurality of photoelectric sensors is provided. The control means arranges the plurality of arranged photoelectric sensors into a predetermined number of blocks. It is a safety device for a movable shelf that is divided and selects one photoelectric sensor for each block in the order of arrangement at a predetermined time interval, and operates the photoelectric sensors for each selected block all at once.

  According to a third aspect of the present invention, in the safety device for a movable shelf according to the second aspect, the second photoelectric sensor in which a projector is arranged on one of the adjacent unit shelves and a light receiver is arranged on the other is opposed to the shelf. A plurality of arrayed second photoelectric sensors are divided into a predetermined number of blocks at a predetermined interval in the vertical direction in the passage entrance / exit, and one unit per block at a predetermined time interval. The second photoelectric sensors are selected in the order of alignment, and the second photoelectric sensors for each selected block are operated simultaneously.

  According to a fourth aspect of the present invention, in the safety device according to the first to third aspects, the arrangement of both the light projector and the light receiver facing each other in one block or a plurality of blocks arranged side by side is modularized, and the modules are connected. Then, the projector and the light receiver are arranged.

  According to a fifth aspect of the present invention, in the safety device according to the fourth aspect, a plurality of the photoelectric sensors are arranged so that the light projectors and the light receivers are alternately arranged.

  According to the safety device of the first aspect, the plurality of photoelectric sensors arranged on both sides of the specific area are divided into a predetermined number of blocks, and one photoelectric sensor is selected in order of alignment for each block at a predetermined time interval. Since the photoelectric sensors for the selected blocks are operated all at once, the photoelectric sensors that operate simultaneously are separated by one block, and the interval between the blocks is set to an interval that does not cause mutual interference, so that interference is always avoided. In addition, the photoelectric sensors can be arranged at a narrow interval in one block, and the worker, a part thereof, and an obstacle in the specific area can be detected with high accuracy and promptly.

  According to the safety device for a movable shelf according to claim 2, a plurality of photoelectric sensors arranged in the shelf path depth direction are divided into a predetermined number of blocks, and one photoelectric sensor is aligned for each block at a predetermined time interval. Since the photoelectric sensors for each selected block are selected and operated in sequence, the photoelectric sensors that operate simultaneously are separated by one block. By setting the interval between these blocks to an interval that does not cause mutual interference, interference is always caused. In addition to avoiding this, it is possible to detect the workers and obstacles in the shelf passage as a specific area with high accuracy and speed by arranging the photoelectric sensors at a narrow interval in one block.

  According to the safety device for a movable shelf according to claim 3, workers and obstacles in the shelf passage are detected with high accuracy and speed by a plurality of photoelectric sensors arranged in the depth direction of the shelf passage, and the entrance and exit of the shelf passage are also performed. A block selected by dividing a plurality of second photoelectric sensors arranged in the vertical direction in a unit into a predetermined number of blocks, and selecting one second photoelectric sensor for each block in order of alignment at a predetermined time interval Since the second photoelectric sensors are simultaneously activated, the second photoelectric sensors that are simultaneously operated are separated by one block, and the interval between the blocks is set to an interval that does not cause mutual interference, so that interference is always avoided. In addition, it is possible to arrange the second photoelectric sensors at a narrow interval in one block, and to quickly and accurately detect an operator, a part thereof, and an obstacle in the shelf passage entrance / exit. .

  According to the safety device of the fourth aspect, the arrangement of both the light projectors and the light receivers facing each other in one block or a plurality of blocks arranged side by side is modularized, and the light projector and the light receiver are arranged by connecting the modules. The sensor can be easily attached and the cost can be reduced.

  According to the safety device of the fifth aspect, since a plurality of photoelectric sensors are arranged so that the light projectors and the light receivers are alternately arranged, one type of module can constitute the arrangement of the light projectors and the light receivers on both sides. Therefore, the cost can be further reduced.

Hereinafter, an embodiment according to the present invention will be described with reference to FIGS.
The entry / exit management system according to the present embodiment is applied to the movable shelf 1, and the movable shelf 1 is an electric movable shelf, and each drive shelf can be moved by driving the motor 10.

FIG. 1 is an overall perspective view of the movable shelf 1, and FIG. 2 is a front view thereof.
When viewed from the front of the movable shelf 1, the first shelf A1, the second shelf A2, the third shelf A3, the fourth shelf A4, the fifth shelf A5, the sixth shelf A6 are arranged in order from the left to the right. The first shelf A1 is a fixed shelf, and the unit shelves A2, A3, A4, A5, A6 excluding the first shelf A1 are drive shelves, and are on the rail 2 laid in the left-right direction. The vehicle is disposed so as to be able to travel through the wheels 3.

The first shelf A1, which is a fixed shelf, is a single shelf that has a front face only on the right side, and the back surface on the opposite side (left side) of the front face is closed by a back plate.
The No. 6 shelf A6, which is the rightmost drive shelf, is a single shelf whose frontage surface is only on the left side, and the back surface on the opposite side (right side) of the frontage surface is closed by the back plate 4b.
The unit shelves A2, A3, A4, and A5, which are drive shelves between the No. 1 shelf A1 and the No. 6 shelf A6, are duplex shelves having front and rear surfaces respectively.

  Therefore, the unit shelves A2, A3, A4, A5, and A6, which are drive shelves, can be self-propelled by mounting the motor 10, respectively, and the five unit shelves A2, A3, A4, A5, and A6 are all When focused on the unit shelf A1 side, which is the leftmost fixed shelf, the articles placed in contact with the adjacent entrances are completely closed and stored safely.

It is possible to selectively form a working shelf path by moving a required unit shelf and opening between adjacent unit shelves.
For example, in the state shown in FIG. 1 and FIG. 2, the No. 5 shelf A5 and the No. 6 shelf A6 are simultaneously moved rightward from the all-shelf convergence state, and the space between the No. 4 shelf A4 and the No. 5 shelf A5 is opened. A shelf passage 5 is formed between the right front surface of the fourth shelf A4 and the left front surface of the fifth shelf A5.

  A support arm 15 protrudes obliquely upward to the right from the top plates of the other unit shelves A1, A2, A3, A4 and A5 except for the unit shelf A6, and an illuminating lamp 16 is provided at the tip of the support arm 15. The work path 5 provided and formed can be illuminated from above.

The back side opposite to the front of the unit shelves A1, A2, A3, A4, A5, A6 is along the wall, so that the shelf passage 5 can be entered and exited only from the front side.
It should be noted that both the front side and the back side of the shelf passage 5 can be entered and exited, and both may have the same configuration.

  The front side plate 4a of each unit shelf A1, A2, A3, A4, A5, A6 is provided with a control unit 6 including a control board at the upper and lower center positions, and moves except the first shelf (fixed shelf) A1. On the left side of the upper end surface of the control unit 6 of the unit shelves A2, A3, A4, A5, A6, an operation button 7 for instructing passage formation is disposed.

  A light projector 8f and a light receiver 8r, which form a pair of infrared photoelectric sensors 8 on the same end surface as the front surface of the front side plate 4a of each unit shelf A1, A2, A3, A4, A5, A6, face each other. It is provided at a height (see FIG. 3).

When the infrared light projected from the light projector 8f of the photoelectric sensor 8 reaches the light receiving device 8r facing each other and receives light, it can be confirmed that there is no obstruction between the light projecting device 8f and the light receiving device 8r at the entrance of the shelf passage 5. When a person passes through, the infrared rays incident on the light receiver from the projector are temporarily blocked and do not reach the light receiver, and it is possible to detect that a person has passed through the entrance of the shelf path 5.
Note that a diffuse reflection photoelectric sensor using a mirror may be used.

In each unit shelf, a plurality of light projectors 9f and light receivers 9r of the photoelectric sensor 9 are arranged in a row on both front surfaces of the frame 4c so as to be alternately arranged in the depth direction of the shelf path 5.
As a representative example of the unit shelf A4 and the unit shelf A5, referring to FIG. 3, on the unit shelf A5 side front surface of the unit shelf A4, the photoelectric sensor 9 at the front end is the projector 9f, and the next is the light receiving unit 9f. 9r and the next light projector 9f are alternately arranged in the depth direction of the shelf path 5, and the photoelectric sensor 9 at the front side of the unit shelf A4 side of the other unit shelf A5 is connected to the light projector. The light receivers 9r that make a pair facing 9f and the projector 9f that makes a pair facing the light receiver 9r are arranged alternately in the depth direction of the shelf path 5.

  In this way, the photoelectric sensor 9 including the light projector 9f and the light receiver 9r facing each other on both front surfaces of the unit shelf A4 and the unit shelf A5 receives light from the light projector 9f in the depth direction of the shelf path 5 from the front side. The shelves 9r are arranged so that the containers 9r are alternately arranged to constitute a shelf passage state detection sensor array 23.

In each photoelectric sensor 9, the infrared light projected from the projector 9f reaches the light receiving device 9r facing each other, and receives light. However, if there is an object such as a person or an object between the light projecting device 9f and the light receiving device 9r, the infrared light is blocked. Since it does not reach the light receiver 9r and does not receive light, the presence or absence of inclusions can be detected.
Since such photoelectric sensors 9 are arranged in the depth direction of the shelf passage 5 to form the shelf passage state detection sensor row 23, the shelf passage state detection sensor row 23 is included in the shelf passage 5 by all the photoelectric sensors 9. It is possible to monitor the shelf path condition of whether or not there is.

  In the present embodiment, 32 photoelectric sensors 9 are arranged for one shelf path 5, and the 32 photoelectric sensors 9 are divided into four blocks, and the same operation control is performed for each block. It is controlled to be executed at the same time.

FIG. 4 is an explanatory diagram schematically showing a part of the shelf path state detection sensor array 23. In FIG. 4, the white triangle indicates the projector 9f, and the black triangle indicates the light receiver 9r.
The blocks are divided into four blocks in the depth direction from the front side, and are designated as blocks B1, B2, B3,..., B8 in order from the front side. 2, 3 and 4 are attached.

The interval between the photoelectric sensors 9 and 9 of the same number in the adjacent blocks is 150 mm, and therefore, the adjacent photoelectric sensors have an interval of 37.5 mm.
When the width of the shelf path 5 is 900 mm and the maximum distance between the projector 9f and the light receiver 9r is 900 mm, if the distance between the photoelectric sensors 9 and 9 is 150 mm or more, the normal photoelectric sensors 9 and 9 Even if it operates simultaneously, it does not cause interference.
Note that the minimum interval at which adjacent photoelectric sensors do not cause interference varies depending on the photoelectric sensor.

That is, no interference occurs even if the photoelectric sensors 8 of the same number in each block are selected and the selected eight photoelectric sensors 9 are operated simultaneously.
Accordingly, the simultaneous operation of the first photoelectric sensor 9 of each block, the simultaneous operation of the second photoelectric sensor 9, the simultaneous operation of the third photoelectric sensor 9, and the simultaneous operation of the fourth photoelectric sensor 9 are sequentially performed at predetermined time intervals. Control to execute and repeat.

  In this photoelectric sensor 9, the arrangement of both the light projectors 9f and the light receivers 9r facing each other in two blocks is modularized. As shown in FIG. 5, one module M receives light from the eight light projectors 9f in two blocks. Containers 9r are arranged on a strip-shaped substrate 10.

Referring to FIG. 5, the first projectors 9f and 9f of each block are connected to a common projector power line F1, and the third projectors 9f and 9f are connected to a common projector power line F2. Yes.
The fourth light receivers 9r and 9r of each block are connected to a common received light power line R1, and the second light receivers 9r and 9r are connected to a common received light power line R2.
A light receiving signal line extends separately from each light receiver 9r.

The light emission power lines F1 and F2 and the light reception power lines R1 and R2 of the module M have connection terminals at both ends.
In the present embodiment, four such strip-like modules M are connected and attached to the front surface of the frame of the unit shelf.

At this time, the light projecting power lines F1 and F2 and the light receiving power lines R1 and R2 of each module connect terminals of the same line.
In addition, the module M is connected to the opposite shelf front surfaces so that the front and rear sides are opposite to each other so that the light projector 9f and the light receiver 9r are opposed to each other (see FIG. 5B).
(1) and (2) in FIG. 5 show modules facing each other.

Thus, a shelf passage state detection sensor array 23 in which the photoelectric sensors 9 are arranged on the front surfaces on both sides of the shelf passage 5 is configured.
Each shelf passage 5 to be formed is provided with this shelf passage state detection sensor row 23.

FIG. 6 shows a schematic block diagram of a control system mainly for controlling the photoelectric sensor 9 of the moving shelf 1.
A main control panel 20 composed of a microcomputer is housed in the control unit 6 of the first shelf A1, which is a fixed shelf.

Each of the control units 6 of the unit shelves A2, A3, A4, A5, and A6 that are drive shelves accommodates a sub-control panel 21 that is a computer, and the sub-control panel 21 controls the drive of the motor 18. At the same time, the operation and signal processing of the photoelectric sensor 9 are performed via the operation button 7 and the photoelectric sensor controller 22, and are centrally managed by the main control panel 20.
Although not shown, the sub control panel 21 also performs signal processing of the photoelectric sensor 8 at the passage entrance.

In the photoelectric sensor controller 22 of the unit shelf A2, the light emission power lines F1 and F2 of the module M on the front side of the four connected modules M attached to the front surface of the unit shelf A1 are output terminals, and the light reception power line R1. , R2 are connected to the output terminal, and the light projecting power lines F1, F2 of the module M on the front side of the four connected modules M attached to the front surface of the unit shelf A1 side of the unit shelf A2 are used as the output terminals. The received light power lines R1 and R2 are connected to the output terminals.
A light receiving signal line is extended separately from each light receiver 9r, and these are connected to the input terminal of the photoelectric sensor controller 22.

Thus, the photoelectric sensor controller 22 of the unit shelf A2 is connected to the shelf path state detection sensor row 23 of the shelf path 5 formed between the unit shelf A1 and the unit shelf A2, and between the unit shelf A1 and the unit shelf A2. It is possible to monitor the state of the shelf path.
The photoelectric sensor controller 22 may be provided for each module M.

Similarly, the photoelectric sensor controller 22 of the unit shelf A3 is connected to the shelf path state detection sensor row 23 of the shelf path 5 formed between the unit shelf A2 and the unit shelf A3, so that the unit shelf A2 and the unit shelf A3 are connected. The shelf path condition between them can be monitored.
The photoelectric sensor controllers 22 of the unit shelves A4, A5, and A6 have the same configuration, respectively, the shelf path state between the unit shelf A3 and the unit shelf A4, the shelf path state between the unit shelf A4 and the unit shelf A5, The shelf path state between the unit shelf A5 and the unit shelf A6 can be monitored.

  In the operation control of the photoelectric sensors 9 in each shelf path state detection sensor row 23, first, a current is supplied to the light projecting power line F1 on one front face and the other light receiving power line R1 opposite to the light projecting power line F1. The light projecting device 9f and the light receiving device 9r of the photoelectric sensor 9 are actuated simultaneously, and then a current is supplied to the light projecting power line F2 on the other front face and the other light receiving power line R2 opposite to the light projecting power line R2. The light projecting device 9f and the light receiving device 9r of the photoelectric sensor 9 are actuated at the same time, and then a current is supplied to the light projecting power line F2 on one front face and the other light receiving power line R2 facing this, so that the third of each block The light projecting device 9f and the light receiving device 9r of the photoelectric sensor 9 are simultaneously activated, and then a current is supplied to the light projecting power line F1 on the other front face and one light receiving power line R1 opposite to the light projecting power line F1. No. photoelectric sensor The light projector 9f and receiver 9r actuated in unison.

  As described above, it is possible to simultaneously operate the photoelectric sensors 9 for each block selected by selecting one photoelectric sensor 9 for each block in the order of arrangement (the order of No. 1, No. 2, No. 3, No. 4). Repeated control is executed at predetermined time intervals (for example, 50 msec intervals).

The distance between the photoelectric sensors 9 that operate simultaneously is 150 mm and does not cause interference.
And since the photoelectric sensors 9 are arranged at a narrow interval of 37.5 mm in one block and are operated at a predetermined short time interval, workers and obstacles in the shelf passage 5 can be detected with high accuracy and speed. Can do.

Since it is not necessary to perform scanning by setting an address or the like in each photoelectric sensor, the control is simplified and configured at low cost.
In addition, there is no time lag due to scanning.
That is, even if the number of photoelectric sensors increases, it is not necessary to consider the influence of the time lag, and obstacles and the like can be detected almost instantaneously and reliably.

  Since there is no risk of interference between adjacent photoelectric sensors, there is no need to obtain the required detection distance by narrowing the light beam of each photoelectric sensor by narrowing the lens as in the prior art. For example, the projector of each photoelectric sensor The detection distance can be extended by increasing the amount of light without narrowing the light beam by the lens, and the optical axis adjustment for each photoelectric sensor is also facilitated.

When an operator or an obstacle is detected in the shelf path 5, the movement of the unit shelves A2, A3, A4, A5, and A6 is prohibited, and control is performed so that the operator and the obstacle are not pinched by the unit shelf. Is done.
Only when no worker or obstacle is detected in the shelf path 5, the movement of the unit shelf is permitted.

  Since the movement prohibition of the movable shelf is canceled only when all the light receivers 9r in the shelf passage 5 receive the light beams of the opposing projectors 9f, not only the obstacle is detected but also the photoelectric sensor 9 is abnormal. Even when a disconnection or the like occurs, no light is received, so that the movement prohibition is not canceled by mistake, and safety is ensured.

  Since the photoelectric sensor 9 is modularized by arranging the light projectors 9f and the light receivers 9r facing each other in two blocks on the belt-like substrate 10, it is easy to attach the unit shelf to the front face of the frame of the unit shelf. Therefore, the working time can be shortened and the cost can be reduced.

  Further, since the shelf passage state detection sensor array 23 of the present embodiment is arranged so that the projectors 9f and the light receivers 9r are alternately arranged, only one type of module is required, and costs for management, production, work, etc. Is reduced.

  Even if the light projectors 9f and the light receivers 9r are not arranged alternately, the light projectors 9f are arranged at intervals of 37.5 mm on one front face, and the light receivers 9r are arranged at intervals of 37.5 mm on the other front face. Even if the block is divided into four blocks, one photoelectric sensor 9 is selected for each block in the order of arrangement, and the photoelectric sensors 9 for the selected blocks are operated all at once, the interval between the photoelectric sensors 9 that operate all at once is An operator and an obstacle in the shelf path 5 can be detected with high accuracy and promptly without causing interference because 150 mm is maintained.

  In the shelf path state detection apparatus according to the above-described embodiment, one photoelectric sensor 8 including a pair of light projectors 8f and light receivers 8r is provided at a predetermined height at the path entrance on the facing front surface. As shown in FIG. 7, a plurality of light projectors 8f and light receivers 8r are alternately arranged in the vertical direction on the same end surface as the front surface of the front side plate 4a of the unit shelf (the facing front surface is not shown). However, the light receivers 8r and the light projectors 8f are alternately arranged to face the light projectors 8f and the light receivers 8r), and one photoelectric sensor 8 may be operated simultaneously in the order of alignment for each block. .

  When the photoelectric sensors 8 are arranged in the vertical direction at the entrance of the shelf passage 5 in this way, only a part of the body such as the head, arm, or toe exists at the entrance of the shelf passage 5. However, this is reliably and promptly detected and the movement of the unit shelf is prohibited so that an accident does not occur.

FIG. 8 shows an example in which the photoelectric sensors 9 arranged in the shelf path depth direction in the embodiment shown in FIG. 7 are arranged not on the base frame but on the side surface of the shelf 4s of the unit shelf at a higher position. .
The photoelectric sensors 9 are arranged on the first shelf 4s from the bottom, but the second and third stages can be selected and arranged, and the photoelectric sensor 9 can be easily set to the most appropriate height. Can be.

  In the above embodiment, the arrangement of the photoelectric sensors 9 is divided into blocks of four. However, even if the blocks are divided into blocks of every two to a minimum of every three or even more than five, adjacent to each other. The interval between the photoelectric sensors 9 and 9 with the same number in the matching block may be set to a distance that does not cause interference, and an appropriate arrangement and block division of the photoelectric sensors 9 can be set according to the specifications of the moving shelf.

Although the movable shelf according to the above embodiment is an electric movable shelf, it is naturally applicable to a manual movable shelf. In the case of a manual movable shelf, an operator or an obstacle is detected in the shelf path. In some cases, the lock mechanism that fixes the moving shelf works to prohibit movement.
The present invention is not limited to the above-described embodiment, and various embodiments can be considered without departing from the scope of the invention.

It is a whole perspective view of the movement shelf which concerns on one embodiment of this invention. It is a front view of the movement shelf. It is a perspective view of No. 4 shelf A4 and No. 5 shelf A5 which looked at the work path formed by opening between No. 4 shelf A4 and No. 5 shelf A5 from the front. It is explanatory drawing which showed typically a part of shelf passage state detection sensor row | line | column. It is explanatory drawing which showed the structure of the module. It is a schematic block diagram of the control system which mainly controlled the photoelectric sensor. It is a perspective view of 1 unit shelf of another embodiment. Moreover, it is a perspective view of 1 unit shelf of another embodiment.

Explanation of symbols

A1 ... Unit shelf (fixed shelf), A2, A3, A4, A5, A6 ... Unit shelf (drive shelf),
DESCRIPTION OF SYMBOLS 1 ... Moving shelf, 2 ... Rail, 3 ... Wheel, 4 ... Back plate, 4a ... Front side plate, 4b ... Back plate, 4s ... Shelf plate, 5 ... Shelf passage, 6 ... Control part, 7 ... Operation button, 8 ... Photoelectric sensor, 8f ... light projector, 8r ... light receiver, 9 ... photoelectric sensor, 9f ... light projector, 9r ... light receiver, 10 ... substrate, 15 ... support arm, 16 ... illuminating lamp, 18 ... motor,
20 ... main control panel, 21 ... sub-control panel, 22 ... photoelectric sensor controller, 23 ... shelf path state detection sensor array.

Claims (5)

A plurality of photoelectric sensors arranged at one side of opposite sides across the specific area and arranged with a light receiver on the other side facing each other are arranged at predetermined intervals along the side,
Control means for controlling the operation of the plurality of photoelectric sensors is provided,
The control means includes
Dividing a plurality of arranged photoelectric sensors into blocks of a predetermined number,
A safety device, wherein one photoelectric sensor is selected in order of arrangement for each block at a predetermined time interval, and the photoelectric sensors for the selected blocks are simultaneously activated. A plurality of unit shelves are guided by rails that are perpendicular to the front surface of the shelves, and are arranged to move freely. In moving shelves that open and selectively form shelf paths,
A plurality of photoelectric sensors arranged with a projector on one of the facing front surfaces of adjacent unit shelves and a light receiver on the other facing each other are arranged at predetermined intervals in the shelf path depth direction,
Control means for controlling the operation of the plurality of photoelectric sensors is provided,
The control means includes
Dividing a plurality of arranged photoelectric sensors into blocks of a predetermined number,
A safety device for a moving shelf, wherein one photoelectric sensor is selected in order of arrangement for each block at a predetermined time interval, and the photoelectric sensors for the selected blocks are operated simultaneously. A plurality of second photoelectric sensors in which a projector is arranged on one of the adjacent unit shelves and a light receiver on the other are opposed to each other are arranged at predetermined intervals in the vertical direction in the shelf passage entrance and exit,
The control means includes
Dividing the plurality of second photoelectric sensors arranged into a predetermined number of blocks,
3. The mobile shelf according to claim 2, wherein one second photoelectric sensor is selected for each block in the order of arrangement at a predetermined time interval, and the second photoelectric sensors for each selected block are operated simultaneously. Safety device. The arrangement of both the light projector and the light receiver facing each other in one block or a plurality of blocks arranged side by side is modularized,
4. The safety device according to claim 1, wherein the modules are connected to arrange the light projector and the light receiver.   The safety device according to claim 4, wherein a plurality of the photoelectric sensors are arranged so that the light projectors and the light receivers are alternately arranged.

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