JP6350243B2 - Moving shelf equipment - Google Patents

Description

  The present invention relates to a moving shelf facility having a moving shelf capable of moving on a floor surface in the facility.

  A moving shelf facility in which a plurality of movable shelves that can reciprocate on a traveling route as described in Patent Document 1 is conventionally known, and by using such a moving shelf facility, Even if the space inside is small, many shelves can be provided, and as a result, many articles stored in the shelves can be stored in the facility.

  The moving shelf equipment described in Patent Document 1 is a railless type, that is, a type that does not use rails. In such a rail-free type moving shelf equipment, the movement route is caused by uneven operation of the electric motor that is the driving source for movement, problems on the floor surface (dirt, unevenness, obstacles, etc.), and uneven load due to the loaded state of the shelf The position of the moving shelf is tilted to the right or left instead of being straight with respect to the (travel route), and the moving direction of the moving shelf is deviated from the original moving route. By continuing to do so, a displacement (width deviation) in the left-right direction orthogonal to the movement path may occur.

  Therefore, in the moving shelf equipment described in Patent Document 1, a magnet (magnet) as a detected object is provided at the stop position of the moving shelf, and when the moving shelf is stopped, the magnet is magnetized by the magnetic sensor. , And the presence or absence of width deviation and the degree of width deviation are detected based on whether the detected magnetic sensitivity has changed since the previous stop, and if there is a width deviation, a travel locus that reduces the width deviation is obtained by calculation. Thus, control is performed along the travel locus for which the travel of the movable shelf is obtained.

JP 2009-132490 A

However, when calculating a travel locus that reduces the width deviation, it is necessary to perform a complicated calculation as to how the movable shelf should travel. Furthermore, the optimal travel trajectory changes depending on factors such as the degree of attitude inclination and width deviation at that time, and the size of the moving shelf itself and the length of the original travel route (environmental conditions). It is necessary to strictly detect the degree of deviation (how many posture inclinations have occurred in terms of angle, or how many mm of width deviation have occurred), and in any equipment and situation. There is no travel locus that can be used for general purposes, and it has been necessary to perform calculations by changing the environmental conditions for each facility and each situation, and obtain the travel locus each time.
In addition, when detecting the width deviation by the method as described above, since the occurrence of the width deviation is detected only at the stop position, the width deviation is detected from one stop position to the next stop position. There is a risk that it will become large without being done (it will deviate significantly from the original movement route).

  Further, in the invention described in Patent Document 1, it is also possible to detect the travel amount of the drive wheels on both sides in the width direction of the movable shelf and perform correction control based on the travel amount. The detection of the travel amount is performed by detecting the rotational state of the rotating body accompanying the friction rolling of the detection wheel that is pressed against the floor surface. Even if there are slight irregularities or oil stains on the surface, the travel amount could not be detected correctly due to the idling of the detection wheel, and there was a risk that proper control could not be performed.

In view of the above, an object of the present invention is to provide a moving shelf facility that can cause the moving shelf to appropriately travel without detecting the degree of posture inclination and width deviation so precisely.
In addition, without waiting for the moving shelf to reach the stop position, it is possible to detect the posture inclination while moving and perform control accordingly, and the width deviation caused by continuing to move while the posture inclination is generated. It is also a problem to suppress the occurrence of the above.
Another object is to enable appropriate movement control even if the floor surface is not good.

In order to solve the above-mentioned problem, the mobile shelf equipment according to the present invention is a mobile shelf equipment having a mobile shelf that can move on the bottom surface in the equipment, and the mobile shelf equipment includes a movement that controls movement of the mobile shelf. A shelf control means and an index path extending along a movement path of the movable shelf are provided, and the movable shelf includes a shelf main body capable of storing a load, and the movable shelf along a predetermined movement path. A plurality of driving wheels for moving, index road detecting means capable of detecting the index road, and an angular velocity meter for detecting an angular velocity of the moving shelf with respect to the moving path, the moving shelf control The means drives each of the driving wheels with any one of a plurality of predetermined driving patterns to control the rotational speed of each driving wheel, so that the moving shelf has a plurality of predetermined moving patterns. My house Based on the angular velocity of the moving shelf detected by the angular velocity meter, and determining the orientation of the posture of the moving shelf with respect to the moving route, so that the moving shelf orthogonal to the moving route It is determined whether one side in the left-right direction is ahead of, or behind, the other side in the moving direction of movement of the movable shelf, and whether the indicator road is detected or not is detected by the indicator road detection means. Based on the state, the width shift direction of the moving shelf in the left-right direction orthogonal to the movement path is determined, and among the plurality of driving patterns determined in advance according to the direction of the posture inclination and the width shift direction The driving pattern to be executed is selected.
According to this configuration, it is only necessary to detect the general state of the orientation and direction (rightward or leftward, rightward or leftward, etc.) without detecting the degree of posture inclination and width deviation quantitatively. It is possible to simplify the configuration of equipment for Also, by detecting the attitude tilt using an angle meter, it is possible to know whether the attitude inclination of the moving shelf has occurred while moving, so the attitude of the moving shelf can be determined without waiting for the stop position. Control according to inclination can be performed. Further, the posture inclination can be detected without being affected by the state of the floor surface, and appropriate movement control according to the actual posture inclination can be performed.

In addition to the above configuration, the moving shelf facility according to the present invention includes a plurality of detection elements arranged in the left-right direction perpendicular to the moving path of the moving shelf. According to which detection element of the plurality of detection elements included in the path detection means detects the index path, the width shift direction of the movable shelf in the left-right direction orthogonal to the movement path is determined. May be.
According to this configuration, since it is possible to detect the width shift of the movable shelf while moving, the drive control according to the width shift direction is being moved without waiting for the movable shelf to reach the stop position. Can be performed.

Further, the moving shelf equipment according to the present invention is configured such that the indicator path is composed of an indicator body row in which the indicator bodies are arranged on the floor surface in the moving shelf equipment along the moving path of the moving shelf. The means comprises an index body detection means for detecting an index body that constitutes the index body row, and when the index body is detected by the index body detection means, the moving shelf detected by the angular velocity meter You may comprise so that determination of the direction of the attitude | position inclination based on angular velocity may be performed.
According to this configuration, when moving along the movement path, the posture inclination is determined every time a certain distance is moved. Can be kept below a certain level, and the amount of width deviation that can occur can be kept below a certain level.

In addition to the above configuration, the moving shelf facility according to the present invention is provided with index body detecting means on one side and the other side in the front-rear direction along the moving path of the moving shelf, and the index body detecting means The distance in the front-rear direction is an integer multiple of the distance in the front-rear direction between the index bodies in the index body row, and the determination of the orientation of the posture inclination of the movable shelf with respect to the movement path is detected by each of the index body detection means You may comprise so that it may be performed also using the presence or absence of a difference in a state, and the state of a difference.
According to this configuration, since the orientation of the posture inclination is checked by a plurality of methods, the determination of the posture inclination direction is more reliable. In addition, since the timing at which the index body detection means detects the index body is the same on the one side in the front-rear direction and the other side (the front side and the rear side), it matches the actual posture of the moving shelf at that timing. Judgment can be made.

In addition to the above configuration, the mobile shelf equipment according to the present invention is delayed when one side of the mobile shelf in the left-right direction is the right side and the other side is the left side, and the right side of the mobile shelf precedes the left side. If there is no advance or delay, the left-hand posture tilt, right-hand posture tilt, and no posture tilt, respectively. When there is a deviation, the width deviation direction is to the left, the width deviation direction is to the right, and the drive pattern that equalizes the rotational speed of each drive wheel is straight running, and the drive wheel provided on the right side of the moving shelf The driving pattern for making the rotational speed of the driving wheel provided on the left side of the movable shelf larger than the rotational speed of the driving wheel provided on the left side of the moving shelf is left turn, and the rotational speed of the driving wheel provided on the right side of the moving shelf is Less than the rotation speed of The drive pattern to be operated is a right turn, and the moving shelf control means has no width deviation and no attitude inclination, or when the width deviation direction is rightward and the attitude inclination is leftward, or the width deviation direction. When the angle is leftward and the posture inclination is rightward, the driving pattern of the straight running is executed, and when there is no width deviation and the posture inclination is leftward, or the width deviation direction is leftward and there is no posture inclination. If the width deviation direction is to the left and the posture inclination is to the left, the right turn drive pattern is executed, and if there is no width deviation and the posture inclination is to the right, or the width deviation The left turn driving pattern is executed when the direction is right and there is no posture tilt, or when the width shift direction is right and the posture tilt is right. It may be.
According to this configuration, it is not necessary to finely adjust the movement control of the moving shelf according to the degree of posture inclination and width deviation, and linear travel, right turn, left turn according to the direction of posture inclination and the direction of width deviation. Therefore, it is only necessary to be able to perform the three types of control, so that the configuration of the device for movement control can be simplified.

According to the present invention, it is not necessary to strictly detect the posture inclination or the degree of width deviation, and the configuration of the device for detection can be simplified, and the configuration of the device for movement control can be simplified. Construction of moving shelf equipment can be performed at a low cost.
In addition, since the posture inclination is detected while the moving shelf is moving, the control according to the posture inclination is promptly executed while moving without waiting for the moving shelf to reach the stop position. Can do. As a result, it is possible to suppress the occurrence of a width shift due to traveling while the movable shelf is inclined rightward or leftward.
In addition, even if there is a problem such as some unevenness or dirt on the floor surface, the measurement of the angular velocity of the movable shelf by the angular velocity meter is not affected by the problem of the floor surface. Even if it is not good, appropriate control can be performed based on the actual posture of the movable shelf.

The perspective view which shows the movement shelf installation in an example of embodiment of this invention. The expanded side view which shows the lower frame body of the movement shelf in the movement shelf installation. It is a schematic plan view which shows the attitude | position inclination and width | variety deviation of a movement shelf, (a) is the state which has not raise | generated the attitude | position inclination and width | variety deviation, (b) is the state where the attitude | position inclination is facing right, (c). Is a state in which the posture inclination is leftward, (d) is a state in which the width deviation is to the right, and (e) is a state in which the width deviation is to the left. The block diagram which shows the relationship between each structure in the movement shelf installation. Schematic which shows the type | mold of the shift | offset | difference of width | variety of a movement shelf and the attitude | position inclination in the movement shelf installation, and the type of drive pattern corresponding to them. The flowchart which shows the flow of the movement control of the movement shelf in the movement shelf installation.

In FIG. 1, the perspective view of the movement shelf installation as an example of embodiment of this invention is shown.
A plurality (three in this case) of moving shelves 11 are provided in the moving shelf facility 10, and fixed shelves 13 are arranged at both outer end positions of the moving path W of these moving shelves 11. Each movable shelf 11 travels between the fixed shelves 13 on the movement path W, so that the movable shelf 11 or the fixed shelf 13 is located between the movable shelves 11 or between the movable shelf 11 and the fixed shelf 13. A passage for carrying out the delivery work of the load T can be formed.
In the following, the direction along the movement path W is referred to as the front-rear direction, the direction orthogonal to the movement path W is referred to as the left-right direction, and one side of the movement shelf 11 movement direction on the movement path W is the front side and the other side. The front, rear and left and right are distinguished from each other as shown by the arrows in FIG.

[Fixed shelf]
As shown in FIG. 1, the fixed shelf 13 is composed of a shelf body 13a capable of storing a load T by combining a rod-like material and a plate-like material made of a load-bearing material such as steel, and this shelf body 13a. The lower end of the column 13b extending in the vertical direction of the bar-shaped material constituting the is fixed to the floor surface of the movable shelf facility 10 by bolting or the like. Although not shown in FIG. 1, a light reflecting plate is attached near the lower end of the support column 13b at the outermost ends (left end and right end) in the left-right direction so that light from a photo reflector described later can be reflected. It has become.

[Moving shelf]
The movable shelf 11 includes a shelf body 11a that can store the load T and the lower frame body 12 that supports the shelf body 11a at the lower part, similarly to the shelf body 13a of the fixed shelf 13. The lower frame body 12 has a rectangular frame shape that combines frame materials made of load-bearing materials, and is wide in the left-right direction (for example, about 15 m) according to the size of the shelf body 11a. (For example, about 2 m).
A stop position detector 17 including a photoelectric sensor such as a photo reflector and a light reflecting plate is attached to the lower left and right ends of the lower frame 12. When the photoelectric sensor of the stop position detector 17 is a photoreflector, the fixed shelf 13 or others depending on whether or not the light projected in the front-rear direction is reflected back by the light reflecting plate. It is possible to detect whether or not the vehicle is approaching the movable shelf 11, that is, whether or not it has reached a position to be stopped. The stop position detectors 17 are provided on both front and rear sides of the movable shelf 11.
As a means for actually moving the movable shelf 11, a plurality of pairs of front and rear wheels are provided in the left-right direction below the lower frame body 12 (a position not visible in FIG. 1). For example, such a wheel pair is provided near the base of a column 11b (vertical bar-like material) that serves as a left and right partition of the storage compartment for the load T in the moving shelf 11 so that the weight of the entire moving shelf 11 can be dispersed and supported. Well, as illustrated in FIG. 1, when the storage compartment is three layers in the upper and lower sides, two steps in the front and rear, and four rows on the left and right per moving shelf 11, the wheel pair is divided into four columns in the left and right direction. Five pairs are provided corresponding to 11b.

[Wheel]
In the enlarged side view of the lower frame body 12 shown in FIG. 2, a pair of the outermost ends (here, the right ends) of the wheel pairs in the left-right direction is shown. Of these outermost wheel pairs, one (rear here) is the driving wheel 14R and the other (front here) is the driven wheel 15R.
In the following, regarding the components provided on both the left and right sides such as the drive wheels 14R, the right side component and the left side component are distinguished from each other, so that the reference numeral indicating the right component is “R”, “L” is attached to a symbol representing an element. That is, like the right driving wheel 14R and the driven wheel 15R, the left driving wheel 14L and the driven wheel 15L are provided on the left side of the movable shelf 11 although not shown in FIG. In addition, in the following description, the same elements are provided on the left side of the components to which “R” is attached.
A driving wheel 14R shown in FIG. 2 is given a rotational driving force by a driving motor 18R (supported by the lower frame body 12) as a driving source via a driving axle 16R supported on the lower frame body 12. It is like that. The drive racks 14R on both sides of the outermost end (left and right sides) are rotated by the drive motor 18R while being in contact with the floor surface, whereby the movable shelf 11 can move in the front-rear direction on the floor surface. .
On the other hand, the driven wheel 15R is pivotally supported by the lower frame body 12 via a driven axle 19R, and is driven by friction with the floor surface when the movable shelf 11 is moved by rotating the driving wheel 14R. It is designed to rotate.
Although not shown here, the inward wheel pair (not the left end or the right end) is composed of driven wheels both in the front and rear.

[Angular velocity meter]
As indicated by a broken line in FIG. 2, an angular velocity meter 36 is provided on the lower frame body 12 of the movable shelf 11. As shown in FIGS. 2 and 3, in the present embodiment, the arrangement location is the central portion of the movable shelf 11 in both the front-rear direction and the left-right direction, and the angular velocity is measured by a measurement method such as mechanical, fluid, or optical. A sensor (gyroscope) capable of measurement (detection) is attached so as to be supported by a frame material constituting the lower frame body 12.
The angular velocity meter 36 detects (measures) the angular velocity (specifically, the amount of change in posture inclination per unit time) of the movable shelf 11 when the movable shelf 11 moves. Since the detected angular velocity is detected as an amount of change from the reference direction, the direction along the movement path W of the movable shelf 11 (that is, a predetermined original traveling direction) is a reference direction. By setting as, it is detected how much angular velocity the moving shelf 11 has with respect to the moving route W, that is, how much the inclination is inclined with respect to the original traveling direction. Can do.

[Magnetic sensor and magnet]
As shown in FIG. 2 and FIG. 3, each of the front side and the rear side of the side surface (here, the right side surface) on one side in the left-right direction of the lower frame body 12 is an index body detection unit that constitutes the index path detection unit. Magnetic sensors 30A and 30B are provided. The magnetic sensors 30A and 30B can detect the presence and strength of magnetism near the floor using a Hall element or the like.
As shown in the blowout in FIG. 2, the magnetic sensor 30 </ b> A (and the magnetic sensor 30 </ b> B) is configured by arranging a plurality (here, eight) of detection elements 31. It arrange | positions so that a direction may correspond with the left-right direction, ie, orthogonally to the moving direction of the movement shelf 11. FIG. The magnetic sensors 30A and 30B can transmit a signal indicating which detection element 31 of the plurality of detection elements 31 has detected magnetism. For example, when the position of the center of the arrangement of the detection elements 31 is used as the reference position of the magnetic sensors 30A and 30B, the position where the magnetism exists depends on which detection element 31 detects the magnetism. It is possible to detect whether the reference position coincides with the reference position or is shifted to the left or right.
In the present embodiment, the left and right positions and dimensions of the magnetic sensors 30A and 30B extend further from the right side surface of the movable shelf 11 to the right side as shown in FIGS. In addition, the magnetic sensor 30A on one side of the front and rear (for example, the front side) and the magnetic sensor 30B on the other side (for example, the rear side) are arranged so that the left and right direction positions coincide.
On the other hand, as shown in FIG. 3, a fixed interval (5% to 25% of the front-rear dimension of the movable shelf 11, for example, a shelf, is provided on the floor surface of the movable shelf facility 10 along the movement path W of the movable shelf 11. When the front-rear dimension is 2 m, a magnet 32 as an index body is embedded every 15% (300 mm).
With respect to the left and right positions of the magnet row 34 serving as the index path composed of the magnets 32, the movable shelf 11 is operated without moving the movable shelf 11 left and right on the movement path W (that is, without causing a posture inclination and a width deviation). When the magnets 32 are moved (as intended by the person), each magnet 32 is arranged at a position where a reference position (for example, the center) set in the magnetic sensors 30A and 30B passes, so that one magnet row 34 is formed. It extends along the movement path W. In the present embodiment, the magnets 32 are arranged such that the magnet row 34 extends back and forth at a position slightly further away from the right side surface of the movable shelf 11 to the right side. The interval between the magnets 32 in the front-rear direction is an integral fraction of the distance between the front magnetic sensor 30A and the rear magnetic sensor 30B. That is, the distance between the front and rear magnetic sensors 30A and 30B is an integral multiple of the interval in the front-rear direction between the magnets 32 in the magnet array 34 (twice in FIG. 3).

[Moving shelf controller]
As shown in the block diagram of FIG. 4, the moving shelf facility 10 is provided with a moving shelf controller 50 as moving shelf control means for controlling the movement of the moving shelf 11. The moving shelf controller 50 may be configured as a processor directly attached to the moving shelf 11, but here, the moving shelf controller 50 is prepared at a position away from the moving shelf 11, and each device ( (Stop position detector 17, drive motors 18L and 18R, angular velocity meter 36, magnetic sensors 30A and 30B, etc.) will be described as being configured as a computer that communicates wirelessly or by wire.
The moving shelf controller 50 controls the movement of the moving shelf 11 based on signals from various detectors that detect the state of the moving shelf 11. That is, here, the presence / absence of approach to another shelf detected by the stop position detector 17, the angular velocity of the movable shelf 11 detected by the angular velocity meter 36, and the presence / absence of detection of the magnet 32 by the magnetic sensors 30A and 30B (detection state) ) To control the rotation of the drive motors 18L and 18R.
Further, with respect to the angular velocity detected by the angular velocity meter 36, the posture inclination angle of the movable shelf 11 is calculated by performing integration over time. Specifically, for example, the moving shelf controller 50 is provided with timing means capable of measuring the elapsed time (or the timing means provided separately and the moving shelf controller 50 are connected so as to be communicable). The number of seconds that a certain angular velocity value lasts ”is recorded using a time measuring means, and [moved angular velocity value] × [number of seconds that the angular velocity value lasts] is integrated to thereby move the mobile shelf 11 at the present time. It is calculated how many minutes the inclination of the posture is an angle with respect to the original traveling direction (reference direction). The angular velocity meter 36 itself may be provided with a function for performing such angle calculation, and the detected angular velocity and the calculated angle may be transmitted to the moving shelf controller 50.
Then, the moving shelf controller 50 includes a command device 60 (an operation panel directly attached to the moving shelf 11, a moving shelf 11, and the like) that transmits an operation command from an operator in the moving shelf facility 10 or a user at a remote location. Is capable of communicating with a separate remote controller, etc., and when receiving a command to move the movable shelf 11 from the commanding device 60, the movement of the movable shelf 11 is started.

[Move control]
<Stopped state>
Hereinafter, of the three movable shelves 11 shown in FIG. 1, the one in the center in the front-rear direction, that is, the movement control of the movable shelf 11 that starts moving from the state where the passage is open in the front and the other movable shelf 11 is in the rear. A description will be given with reference to FIGS.
In the movable shelf 11 at the center in the front-rear direction in FIG. 1, the stop position detector 17 on the front side among the stop position detectors 17 provided at the lower front, rear, left and right ends has no other shelf in the front. The stop position detector 17 on the rear side detects that there is another moving shelf 11 in the rear. At this time, the moving shelf controller 50 that receives the signal from the stop position detector 17 is in a stopped state with respect to the state of the moving shelf 11, the angular velocity is zero, and neither the posture inclination nor the width deviation occurs. Judge that. In addition, the attitude (orientation) of the movable shelf 11 in the stopped state is set as the reference orientation of the angular velocity meter 36.

<Running start>
When a command is issued from the commanding device 60 to move (move forward or backward) one of the movable shelves 11, the movable shelf controller 50 first determines whether there is already another shelf in the direction of travel according to the command. Judge whether. That is, regarding the moving shelf 11 that is instructed to move, whether the other shelf is present forward is provided in the moving shelf 11 that is instructed to move if the instruction is forward, or backward if the instruction is backward. A determination is made based on the signal from the stop position detector 17 that has been received, and if there is another shelf in the direction of travel, a signal notifying that travel is impossible is returned to the command device 60.
If there is no other shelf in the traveling direction (the passage is open) and the traveling is possible, the drive motors 18L and 18R for the left and right drive wheels 14L and 14R of the movable shelf 11 correspond to the traveling direction, respectively. By driving in the rotational direction, the movement in the front-rear direction along the movement path W, that is, the forward or backward movement of the movable shelf 11 is started (step S1 in FIG. 6). At the start of travel, the left and right drive wheels 14L and 14R may be driven to rotate in a “linear travel” drive pattern described later.

<Detection by magnetic sensor and angular velocity meter>
While the movable shelf 11 is moving forward or backward, the movable shelf controller 50 uses the angular velocity of the movable shelf 11 detected by the angular velocity meter 36 provided on the movable shelf 11 and the front and rear magnetic sensors 30A and 30B. A signal indicating a detection state of magnetism is received.
The moving shelf controller 50 does not change the control state of the drive motors 18L and 18R until the magnet 32 (magnetism thereof) arranged on the floor of the facility is detected by the magnetic sensors 30A and 30B (in FIG. 6). Step S2). During this time, based on the angular velocity received from the angular velocity meter 36, the angle calculation of how many postures the mobile shelf 11 is inclined with respect to the movement path W is continuously performed.
Then, when the magnet 32 is detected by any one of the magnetic sensors 30A and 30B, the posture inclination and the width shift state of the movable shelf 11 are determined by the following procedure (step S3 in FIG. 6).

<< Attitude Judgment >>
When the moving end 11 moves in the front-rear direction in the movement path W (forward or backward), as shown in FIG. 3, the magnetic sensors 30A, 30B on both the front and rear sides respectively pass above the magnet row 34, and the magnets The magnet 32 in the row 34 (the magnetism generated by it) is detected.
When the magnetic sensor 30A, 30B sends a signal indicating that the magnet 32 in the magnet array 34 has been detected to the moving shelf controller 50, the moving shelf controller 50 uses the angular velocity detected by the angular velocity meter 36 by that time. The angle of the attitude inclination of the movable shelf 11 calculated in the above is confirmed.
As a result of confirming the attitude inclination angle of the movable shelf 11, if the angle is not 0 ° (or exceeds a predetermined allowable angle value), the movable shelf controller 50 determines the movement shelf 11 with respect to the movement path W. It is determined that the posture is tilted in the left-right direction, that is, the posture tilt is generated.
Specifically, for example, when the posture inclination angle to the right with respect to the movement path W is a positive angle, the posture inclination is directed to the right (the state shown in FIG. 3B) according to the sign of the posture inclination angle. It is determined whether the posture is tilted to the left (the state shown in FIG. 3C) or whether the angle is 0 ° and no posture tilt is generated (the state shown in FIG. 3A).
However, even when the posture inclination angle is not 0 °, if the angle is a very small angle that does not exceed a predetermined allowable angle value (for example, 0.1 °) by the operator or the designer of the mobile shelf facility 10, You may make it make the movement shelf controller 50 judge that the attitude | position inclination has not generate | occur | produced.

Further, as a material for determining the orientation inclination, not only the angular velocity detected by the angular velocity meter 36 but also the detection state of the magnet 32 by the magnetic sensors 30A and 30B can be used.
In addition to the detection state information indicating whether or not the magnet 32 (the magnetism generated by the magnet 32) is detected as a material for determining the posture inclination direction, among the plurality of detection elements 31 included in each of the magnetic sensors 30A and 30B, Detection state information indicating which detection element 31 has detected the magnet 32 is used.
Specifically, for example, in the magnetic sensors 30A and 30B, a plurality (eight in this case) of detection elements 31 arranged in the left-right direction are respectively No. 1 to No. 1 in order from the left in FIGS. 8, the magnetic sensors 30 </ b> A and 30 </ b> B indicate signals indicating which No. detection element 31 has detected the magnet 32 (which No. is ON), as shown in FIG. 4. Is transmitted to the moving shelf controller 50 as a detection state. Here, when the longitudinal distance between the magnetic sensors 30A and 30B is an integral multiple of the longitudinal distance between the magnets 32 in the magnet array 34, the timing at which the magnetic sensor 30A on the front side detects the magnets 32 is detected. Since the timing at which the magnetic sensor 30B on the rear side detects the magnet 32 matches, the detection states of the magnetic sensors 30A and 30B at the same timing can be compared.
When determining the orientation of the posture inclination, the No. of the detection element 31 that detects the magnet 32 (is turned on) in the magnetic sensor 30A on the front side. No. of the detecting element 31 detecting the magnet 32 in the magnetic sensor 30B on the rear side. It is advisable to examine the orientation of the posture based on whether or not there is a difference (whether there is a difference in the detection state) and how it is different (the state of difference).
Specifically, the No. of the detection element 31 that is ON on the front side. No. of the detecting element 31 which is ON on the rear side. Are the same, the posture inclination does not occur, and the No. of the detection element 31 that is ON on the front side is not detected. No. of the detecting element 31 that is ON at the rear side. If it is smaller than this, it may be determined to face right, and if it is larger, it may be determined to face left. For example, as shown in FIG. 3 is ON, and No. When 6 is ON, it can be determined that the posture inclination is rightward.

<< Judgment of width misalignment direction >>
When the magnet 32 is detected by the magnetic sensors 30A and 30B, it is also detected whether or not the movable shelf 11 has shifted in the left-right direction and whether the width-shifted direction is closer to the left-right direction. Make (judgment).
The determination of the width shift direction of the movable shelf 11 is performed based on which of the plurality of detection elements 31 included in the magnetic sensors 30A and 30B has detected the magnet 32 (magnetism thereof).
For example, as shown in the balloon in FIG. 4 and no. If the five detection elements 31 are detecting the magnet 32 (ON), the reference position (center) of the magnetic sensors 30A and 30B and the position where magnetism exists (detection position of the magnet 32) are determined. Therefore, it is determined that there is no lateral shift in the movable shelf 11.
For example, as shown in FIG. 2 and no. If the three detection elements 31 detect the magnet 32, the entire moving shelf 11 is shifted to the right side in the left-right direction with respect to the movement path W, so that the detection position of the magnet 32 is shifted to the left side. That is, it is determined that the movable shelf 11 has a right-side width shift (the width-shift direction is right).
Further, for example, as shown in FIG. 6 and no. 7 is in a state where the detection element 31 is detecting the magnet 32, the detection position of the magnet 32 is shifted to the right side because the entire moving shelf 11 is shifted to the left side in the left-right direction with respect to the movement path W. That is, it is determined that the movable shelf 11 is shifted to the left (the width shift direction is to the left).
As described above, in the detection state by the magnetic sensors 30A and 30B, among the detection elements 31 arranged in the left and right direction provided in the magnetic sensors 30A and 30B, the one at the reference position (center) detects the magnet 32. If the detection element 31 on the left side of the reference position detects the magnet 32, the width deviation direction is determined to be rightward, and the detection element 31 on the right side of the reference position detects the magnet 32. It is determined that the width shift direction is to the left.
In the above description, the case where the left and right positions of the magnet 32 are between the detection elements 31 and the two detection elements 31 detect the magnet 32 has been described. However, the magnet 32 is positioned directly below one of the detection elements 31. In some cases, only one detection element 31 may detect the magnet 32. Even in that case, the width shift direction may be determined based on whether the detection element 31 that detects the magnet 32 is on the left or right side. For example, no. 4 and no. No. 5 is used as the reference position. If only the four detection elements 31 detect the magnet 32, it means that the detection element 31 located to the left of the reference position has detected the magnet 32, and therefore the width shift direction is determined to be rightward. Alternatively, no. 4 or No. For minute width deviations such as when only 5 is ON, it is within the allowable range (no width deviation). 1-No. No. 3 is turned to the right when No. 3 is ON. 6-No. When any one of 8 is turned on, it may be determined to be leftward.
Further, in the above description, the state in which the posture inclination is not generated and only the width deviation is generated is described, so that the magnet 32 is detected by the front magnetic sensor 30A and the rear magnetic sensor 30B. The element 31 No. Is assumed to match. However, even when the width deviation and the posture inclination occur at the same time, the detection element Nos. That are ON on the front side and the rear side respectively. It can be determined that the moving shelf 11 is located on either the left or right as a whole depending on whether the average value is larger or smaller than the reference value (rightward if the average value is smaller than the reference value, and leftward if the average value is larger). For example, no. 4 and no. If the reference position is between 5 and 5, the reference value is set to (4 + 5) /2=4.5. No. 1 is ON and No. 4 is ON, the average value is 2.5, which is smaller than the reference value, so the width shift direction is to the right, and the detection element No. Since the front side is smaller, it can be determined that the posture inclination is rightward.

<Select driving pattern for straight running or left / right turn>
When the posture inclination direction and the width deviation direction of the movable shelf 11 are determined in the manner as described above, the combination of the posture inclination direction and the width deviation direction is classified into any of the nine patterns shown in FIG. As for the movement control of the movable shelf 11, it is decided to perform the control for driving the drive wheels 14L and 14R by the type of drive pattern determined corresponding to each pattern as described below (in FIG. 6). Step S4). When such determination (selection) is performed by software, the type of driving pattern is determined by comparing the variable indicating the posture inclination state and the variable indicating the width deviation state with a previously prepared variable table. It is recommended that the variables shown be obtained.

<< About drive pattern types >>
In the following, the drive patterns of the drive wheels 14L and 14R in each situation are “linear running” as the first drive pattern, “right turn” as the second drive pattern, and “right turn” as the third drive pattern. Which of the “left turn” will be described.
Here, “straight running” is a drive pattern for controlling the rotational speed of each drive wheel to be equal (by the drive control of the left and right drive motors 18L and 18R), that is, the rotational speed of the right drive wheel 14R. Is the same as the rotation speed of the left drive wheel 14L. When this linear driving pattern is executed, the movable shelf 11 is moved in a linear movement pattern.
“Right turn” is a drive pattern for controlling the rotational speed of the right drive wheel 14R to be smaller than the rotational speed of the left drive wheel 14L (or to make the left rotational speed larger than the right side). It is. When this right turn driving pattern is executed, the movable shelf 11 is moved in a movement pattern that turns rightward.
The “left turn” is a drive pattern for controlling the rotation speed of the right drive wheel 14R to be larger than the rotation speed of the left drive wheel 14R (or making the right rotation speed smaller than the left rotation). . When the left turn driving pattern is executed, the movable shelf 11 is moved in a movement pattern that turns leftward.
These drive patterns can be set by determining how fast the drive wheels 14L and 14R are rotated. That is, the rotational speed setting value of the left driving wheel 14L and the rotational speed setting value of the right driving wheel 14R are determined in advance for each driving pattern, and when one of the driving patterns is executed, the driving pattern is determined. The left and right drive wheels 14L and 14R may be rotated at the set rotational speed.

<< Correspondence relationship between the type of posture inclination direction and width deviation direction and drive pattern type >>
The type of drive pattern to be executed is selected as follows in accordance with the posture inclination direction and width shift direction of the movable shelf 11.
As shown in FIG. 5A, when there is no width shift and there is no posture inclination, a driving pattern for linear travel is selected.
As shown in FIG. 5B, when there is no width deviation and the posture inclination is rightward, the left turn drive pattern is selected.
As shown in FIG. 5C, when there is no width shift and the posture inclination is leftward, a right turn drive pattern is selected.
As shown in FIG. 5D, when the width deviation direction is rightward and there is no posture inclination, the left turn drive pattern is selected.
As shown in FIG. 5E, when the width shift direction is rightward and the posture inclination is rightward, the left turn drive pattern is selected.
As shown in FIG. 5F, when the width misalignment direction is rightward and the posture inclination is leftward, a linear travel drive pattern is selected.
As shown in FIG. 5G, when the width misalignment direction is leftward and there is no posture inclination, a right turn drive pattern is selected.
As shown in FIG. 5H, when the width shift direction is leftward and the posture inclination is rightward, a driving pattern for linear travel is selected.
As shown in FIG. 5I, when the width misalignment direction is leftward and the posture inclination is leftward, a right turn drive pattern is selected.
When it is determined which type of control is to be performed as described above, the selected control, that is, straight running, left turn, or right turn is executed (step S5 in FIG. 6).

<Continuation of movement and stop control>
When the moving shelf controller 50 executes a drive pattern of straight running, left turn, or right turn (updates the rotational speed setting values of the drive wheels 14L, 14R by the drive motors 18L, 18R in FIG. 2), It is confirmed whether or not the stop position detector 17 has detected the presence of another shelf in the traveling direction (step S6 in FIG. 6).
If there is no detection by the stop position detector 17, that is, if it has not yet approached another shelf and has not reached the position to be stopped, the movement of the moving shelf 11 is continued, and from step S2 in FIG. Step S5 is repeated. That is, until the next magnet 32 present in the traveling direction is detected by the magnetic sensors 30A and 30B, the drive pattern of the straight running, the left turn, or the right turn executed in step S5 is continued, and the magnetic sensors 30A, 30B are continued. When 30B detects the next magnet 32, the posture inclination and the width deviation of the movable shelf 11 at that time are determined again, and based on the type of the posture inclination and the width deviation at that time, the next is straight running, left turn, Select and execute which drive pattern of right turn is executed.
By repeating this, every time the position of the magnet 32 is passed, the moving state of the moving shelf 11 is adjusted, and even if there is a posture inclination or a width shift, they are corrected.
As to which type of drive pattern is executed according to each state shown in FIGS. 5A to 5I, the state of posture inclination and width shift changes as a result of movement in the movement pattern associated with the drive pattern. Thus, a state where there is no posture inclination and no width deviation, that is, a state shown in FIG. 5A is finally reached.
When the stop position detector 17 detects the presence of another shelf in the traveling direction, it is determined that the movable shelf 11 has reached the position where it should be stopped, and the drive of the drive motors 18L and 18R is stopped, thereby moving the movable shelf 11. Is stopped (step S7 in FIG. 6). At the time of this stop, the posture at that time may be reset as the reference direction of the angular velocity meter 36.

In the movable shelf equipment 10 having the movable shelf 11 controlled as described above, the posture inclination and width of the movable shelf 11 each time the magnetic sensors 30A and 30B pass over the magnets 32 provided at regular intervals on the floor surface. Since the deviation is judged and how it should move is controlled according to the posture inclination and the state of the width deviation, the posture inclination while moving without waiting for reaching the stop position And width deviation can be corrected. Further, if the arrangement interval of the magnets 32 is a short distance (for example, 300 mm), this correction is frequently performed. Therefore, the period during which the posture inclination is generated is shortened. It can be prevented before it occurs or it will be negligible.
Further, since the posture inclination of the movable shelf 11 is determined based on the angular velocity of the movable shelf 11 detected by the angular velocity meter 36, the actual inclination of the posture is not affected by the state of the floor (such as unevenness and dirt). Control can be performed based on the state.

  Further, the drive pattern of the drive wheels 14L and 14R is determined depending on whether the posture inclination is in the left-right direction or the width deviation is in the left-right direction (select one of straight running, right turn, and left turn). Therefore, it is qualitative and rough whether it is rightward or leftward without detecting the degree of posture inclination and width deviation quantitatively (without detecting how many degrees the angle is inclined or how many mm deviation). It is not necessary to precisely control the rotation speed, and it is only necessary to select one of a plurality of predetermined patterns, so that the configuration of the device for detection and control can be configured. Easy and low cost.

  Further, as the entire moving shelf facility 10, it is necessary to control the movement of a plurality of moving shelves 11 (three in FIG. 1). Therefore, it is only necessary to perform a simple control of selecting a drive pattern as determined in accordance with the movement shelf controller 50 for each of the movement shelves 11 (such as calculating an optimum travel locus). There is no need to prepare, and it is possible to control a plurality of movable shelves 11 with one movable shelf controller 50.

  Further, in the control method according to the present embodiment, the rotational speeds of the drive wheels 14L and 14R are not finely adjusted according to the degree of posture inclination or the degree of width deviation, but simply according to the posture inclination direction and the width deviation direction. The direction of turning is determined, and when the posture inclination direction and the width deviation direction change, the turning direction is changed again. If so, there are few elements whose control content should be changed depending on factors (environmental conditions) specific to the moving shelf facility 10 such as the size of the moving shelf 11 itself and the length of the moving path W in the front-rear direction. The control contents used in the above can be diverted with almost no change in other mobile shelf equipment.

  Further, it is possible to roughly determine the posture inclination of the movable shelf 11 by using the detection state by the magnetic sensors 30A and 30B, and therefore, when used in combination with the angular velocity meter 36 capable of examining a specific angle. The posture inclination can be reliably determined, and the posture inclination can be determined even when the angular velocity meter 36 fails.

  In the above embodiment, the angular velocity meter 36 is provided in the lower part of the movable shelf 11 and in the center part in the front-rear direction and the left-right direction. However, the arrangement location of the angular velocity meter 36 is not limited to this, and the movable shelf 11 It may be arranged at a position where the angular velocity can be detected to such an extent that the posture inclination can be correctly determined. For example, it may be attached to the upper part or the front surface of the movable shelf 11.

Moreover, in said embodiment, although the magnet 32 and magnetic sensor 30A, 30B are used as an index body and an index body detection means, it replaces with these, a light-reflection board is installed in a floor surface, and the lower part of the movement shelf 11 Alternatively, an optical detection method may be adopted in which a photo reflector is provided.
In this way, detection can be performed without delay even in an environment where magnetic detection is difficult, such as when the floor surface is a metal plate. On the other hand, when the magnet 32 and the magnetic sensors 30A and 30B are used, there is an advantage that detection is not hindered even if there is some optical contamination on the floor surface. Further, even when a metal piece and a metal detection sensor are used, there are similar advantages.
Further, in the above-described embodiment, the width shift is detected by detecting which of the plurality of detection elements 31 arranged in the left-right direction detects the magnet 32 and is turned on, but the magnetic sensors 30A and 30B are magnetic. A device capable of detecting the strength and the direction of the lines of magnetic force may be used, and a width shift or the like may be detected based on a detection state of what kind of magnetism is detected.

In the above-described embodiment, the magnet row 34 in which the magnets 32 are arranged at regular intervals is used as an index path. However, as an index path configured using magnets, a magnet tape (or a tape that extends along the movement path W (or A long magnet plate) may be provided. In such a configuration, only one magnet tape may be used as the index path, but a plurality of magnet tapes may be provided or the magnet array 34 may be provided in order to improve the detection accuracy of the posture inclination and the width deviation. And a magnetic tape may be used in combination.
In the above embodiment, as shown in FIG. 1, the magnetic sensors 30A and 30B are provided so as to protrude from the right side surface to the right below the movable shelf 11, but the magnetic sensors 30A and 30B are arranged. The position to perform is not restricted to this, For example, you may attach to the lower surface of the movement shelf 11. FIG. In this case, the magnet array 34 may be provided along the movement path W on the floor surface of the region through which the movable shelf 11 passes so that the magnet 32 can be detected from the magnetic sensors 30A and 30B on the lower surface. Further, the arrangement position of the stop position detector 17 is not limited to the lower left and right ends of the movable shelf 11 and may be attached to another position.

DESCRIPTION OF SYMBOLS 10 Moving shelf equipment 11 Moving shelf 14L, 14R Drive wheel 18L, 18R Drive motor 30A, 30B Magnetic sensor 32 Magnet 34 Magnet array 36 Angular velocity meter 50 Moving shelf controller W Moving path

Claims (5)

In a moving shelf facility having a movable shelf movable on the bottom surface in the facility,
The moving shelf equipment is provided with moving shelf control means for controlling the movement of the moving shelf, and an indicator path extending along the moving path of the moving shelf,
The movable shelf includes a shelf body capable of storing a load, a plurality of drive wheels for moving the movable shelf along a predetermined movement path, and an index path capable of detecting the index path. A detector and an angular velocity meter for detecting an angular velocity of the moving shelf with respect to the moving path;
The moving shelf control means includes
Which of the plurality of predetermined movement patterns is determined by driving each of the driving wheels with one of a plurality of predetermined driving patterns to control the rotational speed of each driving wheel. Can be moved in,
Based on the angular velocity of the moving shelf detected by the angular velocity meter, the direction of the inclination of the moving shelf with respect to the moving path is determined, and one side of the moving shelf orthogonal to the moving path is moved in the left-right direction. Determine whether it is ahead of the other side in the direction of travel, whether it is behind, whether it is ahead or behind,
Based on the detection state of the index path by the index path detection means, determine the width shift direction of the moving shelf in the left-right direction orthogonal to the movement path,
According to the direction of the posture inclination and the width deviation direction, one of a plurality of predetermined driving patterns is selected, and a driving pattern to be executed is selected .
The index path is composed of an index body row in which the index bodies are arranged on the floor surface in the moving shelf facility along the moving path of the moving shelf,
The indicator path detecting means comprises indicator body detecting means for detecting the indicator bodies constituting the indicator body row,
The moving shelf equipment characterized in that the determination of the orientation inclination based on the angular velocity of the moving shelf detected by the angular velocity meter is performed when the indicator body is detected by the indicator body detecting means. .   In a moving shelf facility having a movable shelf movable on the bottom surface in the facility,
  The moving shelf equipment is provided with moving shelf control means for controlling the movement of the moving shelf, and an indicator path extending along the moving path of the moving shelf,
  The movable shelf includes a shelf body capable of storing a load, a plurality of drive wheels for moving the movable shelf along a predetermined movement path, and an index path capable of detecting the index path. A detector and an angular velocity meter for detecting an angular velocity of the moving shelf with respect to the moving path;
  The moving shelf control means includes
    By rotating the drive wheels at a predetermined set speed, the linear movement of the movable shelf is linear, the left turn is turned left, or the right turn is turned right. Can be controlled to move,
    Based on the angular velocity of the moving shelf detected by the angular velocity meter, the direction of the inclination of the moving shelf with respect to the moving path is determined, and one side of the moving shelf orthogonal to the moving path is moved in the left-right direction. Determine whether it is ahead of the other side in the direction of travel, whether it is behind, whether it is ahead or behind,
    Based on the detection state of the index path by the index path detection means, determine the width shift direction of the moving shelf in the left-right direction orthogonal to the movement path,
    It is determined to perform any one of the straight running, the left turn, and the right turn, which is determined in advance corresponding to the combination of the posture inclination direction and the width deviation direction. Control of any one of the straight running, the left turn, and the right turn is continued until the next indicator body detects the indicator body detection means. The index path detection means includes a plurality of detection elements arranged in the left-right direction orthogonal to the movement path of the moving shelf,
The width shift direction of the moving shelf in the left-right direction perpendicular to the moving path is determined depending on which detecting element detects the index path among the plurality of detecting elements included in the index path detecting means. The moving shelf equipment according to claim 1 or 2 , characterized in that Indicator body detection means are provided on one side and the other side in the front-rear direction along the movement path of the moving shelf, and the distance in the front-rear direction between the indicator body detection means is the front and back of the indicator bodies in the indicator body row An integer multiple of the direction interval,
The determination of the orientation inclination direction of the movable shelf with respect to the movement route is performed using presence / absence of a difference in detection state and a difference state by each of the indicator body detection means. Moving shelf equipment. One side of the moving shelf in the left-right direction is the right side, the other side is the left side,
When the right side of the moving shelf is ahead of the left side, when it is delayed, when it is not leading or delayed, respectively, the leftward posture inclination, rightward posture inclination, no posture inclination,
When the width deviation occurs to the left of the moving path and when the width deviation occurs to the right, the width deviation direction is to the left and the width deviation direction is to the right,
The drive pattern that equalizes the rotation speed of each drive wheel is straight running,
The driving pattern that makes the rotational speed of the driving wheel provided on the right side of the moving shelf larger than the rotational speed of the driving wheel provided on the left side of the moving shelf is left turn,
As a right turn, a drive pattern that makes the rotational speed of the driving wheel provided on the right side of the moving shelf smaller than the rotational speed of the driving wheel provided on the left side of the moving shelf,
The moving shelf control means
The straight line when there is no width deviation and no posture inclination, or when the width deviation direction is rightward and the posture inclination is leftward, or when the width deviation direction is leftward and the posture inclination is rightward. Execute the driving pattern of traveling,
When there is no width deviation and the posture inclination is leftward, or when the width deviation direction is leftward and there is no posture inclination, or when the width deviation direction is leftward and the posture inclination is leftward, the right Executes the swivel drive pattern,
When there is no width deviation and the posture inclination is rightward, or when the width deviation direction is rightward and there is no posture inclination, or when the width deviation direction is rightward and the posture inclination is rightward, the left rotation is performed. The moving shelf equipment according to claim 1, wherein the driving pattern is executed once.

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