JP7220400B2 - mobile shelf - Google Patents

Description

The present invention relates to a movable shelf device having a first shelf and a second shelf that are relatively movable.

Japanese Patent Laying-Open No. 2017-43461 discloses a movable shelf device that includes a plurality of shelves along a first direction along a horizontal plane (a direction in which the shelves are arranged), and at least one shelf is movable along the first direction. It is When the shelf moves, an inter-shelf passage into which a worker or the like can enter is formed between the moving shelf and another shelf facing the moving shelf. To prevent a worker or the like from being caught between shelves facing each other across an inter-shelf passage when the shelves move in a direction in which the inter-shelf passage is reduced in a state where the inter-shelf passage is formed. , the movable shelf device is equipped with an obstacle detection device. The detection range of the obstacle detection device is set to the entire inter-shelf passage when the inter-shelf passage is formed. Then, the movable shelf device controls so as not to move the shelf in the direction in which the inter-shelf passage is reduced while the obstacle detection device detects the obstacle. On the other hand, if the entire inter-shelf aisle is set as an obstacle detection range while the shelves are moving in a direction in which the inter-shelf aisle is reduced, the obstacle detection device will detect the shelf as an obstacle. Therefore, when the shelves are moving in the direction in which the inter-shelf passage is reduced, the obstacle detection device uses the vicinity of one of the opposing shelves as the obstacle detection range.

In this way, when the detection range of the obstacle detection device is set, even if an obstacle such as a worker enters the inter-shelf passage after the shelves begin to move in the direction in which the inter-shelf passage is narrowed, , the point of entry may be outside the detection range. As a result, detection of the obstacle is delayed, and there is a risk that the obstacle that has entered the inter-shelf passage will come into contact with the shelf. Therefore, it is desirable to be able to appropriately detect obstacles regardless of whether the shelf is stopped or moving.

JP-A-2017-43461

In view of the above background, in a movable shelf device having a plurality of relatively movable shelves, it is desirable to always appropriately detect obstacles present in inter-shelf passages formed between shelves.

As one preferred aspect, in view of the above, a first shelf and a second shelf facing each other in a first direction along a horizontal plane are provided, and the first shelf and the second shelf are opposed to each other in the first direction. A movable shelf device, which is movably provided and in which an inter-shelf passage is formed between the first shelf and the second shelf in a state in which the first shelf and the second shelf are spaced apart, the inter-shelf passage is formed, an obstacle sensor that detects an obstacle existing in the inter-shelf passage, and an inter-shelf distance that is the distance at which the first shelf and the second shelf face each other in the first direction a distance sensor for detecting, wherein the obstacle sensor and the distance sensor are configured by a single active sensor that detects the object by transmitting light and receiving reflected light from the object, and The detection range of the obstacle sensor is dynamically variably set according to the inter-shelf distance so that the entire area of the inter-shelf passage is within the detection range .

According to this configuration, the inter-shelf distance that changes due to the relative movement of the first shelf and the second shelf is detected, and the inter-shelf distance is adjusted so that the entire area of the inter-shelf aisle is within the detection range. The detection range is variably set dynamically. Therefore, not only before the first shelf and the second shelf move relative to each other, but also after the first shelf and the second shelf start to move relative to each other, the detection range covers the entire area of the inter-shelf aisle that gradually shrinks. can be As a result, during the entire period from before the relative movement of the first shelf and the second shelf to the completion of the relative movement of the first shelf and the second shelf, an obstacle entering the inter-shelf passage is appropriately detected. be able to. Furthermore, since the obstacle sensor and the distance sensor are composed of a single active sensor, the system configuration can be simplified and the cost can be reduced. As described above, according to this configuration, in a movable shelf device having a plurality of relatively movable shelves, it is possible to always appropriately detect an obstacle present in the inter-shelf passage formed between the shelves. can.

In one preferred aspect of the movable shelf apparatus in view of the above, the first shelf and the second shelf are provided facing each other in the first direction along the horizontal plane, and the first shelf and the second shelf are A movable shelf device provided so as to be relatively movable in the first direction, and in which an inter-shelf passage is formed between the first shelf and the second shelf in a state in which the first shelf and the second shelf are separated from each other. In a state in which the inter-shelf passage is formed, an obstacle sensor that detects an obstacle existing in the inter-shelf passage, and the first shelf and the second shelf face each other in the first direction. and a distance sensor for detecting the distance between shelves, which is the distance between the shelves, wherein the obstacle sensor and the distance sensor detect the object by transmitting light and receiving reflected light from the object. The detection range of the obstacle sensor is dynamically variably set according to the distance between the shelves, and the single active sensor is attached to one of the first shelf and the second shelf. and a reflector is attached to the other of the first shelf and the second shelf, and the single active sensor detects an object existing in the inter-shelf passage as the target, based on the reflected light from the object. The obstacle is detected by using the reflector as the object, and the distance between shelves is detected based on the reflected light from the reflector, and the reflector is along the horizontal plane and in the first direction A plurality of them are provided at positions spaced apart in a second orthogonal direction.

According to this configuration, the inter-shelf distance that changes due to the relative movement of the first shelf and the second shelf is detected, and the detection range is dynamically set variably according to the inter-shelf distance. Therefore, not only before the first shelf and the second shelf move relative to each other, but also after the first shelf and the second shelf start to move relative to each other, the detection range covers almost the entire passage between the shelves, which is gradually reduced. can be As a result, during the entire period from before the relative movement of the first shelf and the second shelf to the completion of the relative movement of the first shelf and the second shelf, an obstacle entering the inter-shelf passage is appropriately detected. be able to. Furthermore, since the obstacle sensor and the distance sensor are composed of a single active sensor, the system configuration can be simplified and the cost can be reduced.
Further, according to this configuration, a single active sensor is attached to one of the first shelf and the second shelf, a reflector is attached to the other of the first shelf and the second shelf, and the single active sensor is attached to the shelf. Obstacles are detected based on reflected light from an object existing in an inter-passage as an object, and a distance between shelves is detected based on the reflected light from a reflector as an object. Therefore, it is possible to appropriately detect the inter-shelf distance and set the detection range according to the inter-shelf distance.
Furthermore, according to this configuration, the plurality of reflectors are provided at positions spaced apart in the second direction along the horizontal plane and orthogonal to the first direction. Even with a single reflector, it is possible to detect the distance between shelves. However, the inter-shelf distance can be detected more accurately by installing a plurality of reflectors at positions spaced apart in the second direction.
As described above, according to this configuration, in a movable shelf apparatus having a plurality of relatively movable shelves, it is possible to always appropriately detect an obstacle present in the inter-shelf passage formed between the shelves. can.

Further features and advantages of the mobile shelving device will become clear from the following description of the embodiments described with reference to the drawings.

FIG. 2 is a plan view schematically showing the configuration of the moving shelf device; The side view which shows the structure of a moving shelf apparatus typically. Block diagram schematically showing the configuration of the moving shelf device Explanatory diagram showing an example of the procedure for setting the detection range Explanatory diagram showing another example of the procedure for setting the detection range Explanatory diagram showing the principle of detecting a reflector A plan view of a movable shelf device showing an example in which inter-shelf passages are formed at two locations at the same time. Explanatory drawing showing a comparative example of the detection range before the opposing movable shelves move Explanatory drawing showing a comparative example of the detection range when one of the opposing movable shelves moves Explanatory drawing showing a comparative example of the detection range when the other of the opposing movable shelves moves

An embodiment of a movable shelf device will be described below with reference to the drawings. FIG. 1 is a plan view schematically showing the structure of the movable shelf device 10, and FIG. 2 is a side view schematically showing the structure of the movable shelf device 10. As shown in FIG. As shown in FIGS. 1 and 2, the movable shelf device 10 includes a fixed shelf 2 fixed to the floor as a shelf 1 for storing articles, and a rail 4 laid on the floor to move along a horizontal plane. and a movable shelf 3 movable in the direction M (first direction). One fixed shelf 2 is provided at each end of the rail 4. - 特許庁A first fixed shelf 21 is provided on one end side of the rail 4 , and a second fixed shelf 22 is provided on the other end side of the rail 4 . Three movable shelves 3 are provided between the first fixed shelf 21 and the second fixed shelf 22 in this embodiment. The movable shelves 3 are arranged in order of the first movable shelf 31 , the second movable shelf 32 , and the third movable shelf 33 from the first fixed shelf 21 side. Of course, one movable shelf 3 may be provided, or four or more may be provided. Moreover, without providing the fixed shelves 2 at both ends of the rail 4, either one or both ends of the rail 4 may be simply walls.

The fixed shelf 2 has a storage section for storing articles only on the side facing the movable shelf 3, that is, on one side in the moving direction M. As shown in FIG. The movable shelf 3 has storage units for storing articles on both sides facing the adjacent shelf 1 along the moving direction M. As shown in FIG. In other words, each movable shelf 3 has a first storage shelf 3a formed with a storage portion facing the direction of the first fixed shelf 21 and a second storage shelf 3a formed with a storage portion facing the direction of the second fixed shelf 22. It has a storage shelf 3b. As shown in FIG. 2, the first storage shelf 3a and the second storage shelf 3b are fixed on the truck portion 6. As shown in FIG. That is, the movable shelf 3 is configured to have a first storage shelf 3a, a second storage shelf 3b, and a carriage portion 6. As shown in FIG. The truck section 6 includes a motor 12 and wheels 13 as shown in the block diagram of FIG. Therefore, the first storage shelf 3a and the second storage shelf 3b move as the carriage 6 moves.

As described above, the movable shelf 3 is guided by the rails 4 and is movable in the movement direction M along the horizontal plane. 1 and 2, the first movable shelf 31 moves closest to the first fixed shelf 21 side, and the second movable shelf 32 and third movable shelf 33 move closest to the second fixed shelf 22 side. , a configuration in which an inter-shelf passage E is formed between the first movable shelf 31 and the second movable shelf 32 is illustrated. When the shelves 1 adjacent to each other along the movement direction M are closest to each other, the distance between the shelves 1 facing each other in the movement direction M is the first inter-shelf distance D1, and the first inter-shelf distance D1 is It is approximately 50 to 100 [mm]. Further, when the inter-shelf passage E is formed, the distance between the shelves 1 facing each other in the movement direction M is the second inter-shelf distance D2, and the second inter-shelf distance D2 is approximately 1 to several [m]. ] is about. The second inter-shelf distance D2 is set to a length that allows a person (worker) or a working vehicle such as a cart (including both automatic driving and human operation) to enter the inter-shelf passage E. Articles can be delivered between the worker or work vehicle located at E and the storage unit.

The block diagram of FIG. 3 schematically shows the configuration of the mobile shelf apparatus 10. As shown in FIG. Each movable shelf 3 controls the wheels 13 that drive the carriage 6, the motors 12 that drive the wheels 13, the rotation sensors 14 (here, encoders are exemplified) that detect the rotation of the wheels 13, and the motors 12. An opening/closing control device 11 for opening and closing the inter-shelf passage E by moving the movable shelf 3 by moving the movable shelf 3, and an inter-shelf sensor 5, which will be described later, are provided. The opening/closing control device 11 can feedback-control the motor 12 based on the detection result of the rotation sensor 14 .

Further, although illustration is omitted, each movable shelf 3 has an operation switch for moving or stopping the movement of each movable shelf 3, and a display unit (for example, an LED etc.) is provided. It is preferable that the display unit indicates states such as moving, stopping, movable (stopped), and movement prohibited (stopped).

The mobile shelf device 10 further includes a mobile shelf control device 20 that performs coordinated control of the respective mobile shelves 3 . For example, each movable shelf 3 can be moved according to an instruction from the movable shelf control device 20 without requiring the operator to operate an operation switch installed on each movable shelf 3 .

Although the details will be described later, the movable shelf device 10 includes an obstacle sensor (inter-shelf sensor 5 described later) that detects an obstacle B (see FIG. 6) existing in the inter-shelf passage E. For example, when moving the movable shelf 3 in the direction of narrowing the inter-shelf passage E, if it is detected that there is an obstacle B in the inter-shelf passage E before the start of movement, the open/close control device 11 moves the movable shelf 3. Prohibit movement. Further, when the obstacle B is detected after the movable rack 3 starts moving, the opening/closing control device 11 stops the movable rack 3 . In other words, the opening/closing control device 11 restricts the movement of the movable shelf 3 in the direction of narrowing the inter-shelf passage E when the obstacle B exists in the inter-shelf passage E.

The inter-shelf sensor 5 is installed on the shelf 1 (movable shelf 3 in this case). Not exclusively. Therefore, it is preferable that the opening/closing control device 11 transmits the detection information of the obstacle B to the movable shelf control device 20 . Alternatively, the detection information of the obstacle B from the inter-shelf sensor 5 may be directly transmitted to the movable shelf control device 20 .

When the obstacle B is detected by the inter-shelf sensor 5 different from the mobile shelf 3 to be moved, the mobile shelf to be moved is notified of the presence of the obstacle B via the mobile shelf control device 20. It is preferable that the opening/closing control device 11 of 3 prohibits the movement of the movable shelf 3 . Alternatively, the movable shelf control device 20 may issue a command to prohibit the movement of the movable shelf 3 to be moved. Further, when the detection information of the obstacle B from the inter-shelf sensor 5 is directly transmitted to the movable shelf control device 20, the inter-shelf sensor 5 that detects the obstacle B is positioned on the movable shelf 3 to be moved. The opening/closing control device 11 of the movable shelf 3 to be moved may restrict the movement of the movable shelf 3 based on the command from the movable shelf control device 20 regardless of whether or not it is installed. In this way, when an obstacle B is detected in the inter-shelf passage E, one or both of the opening/closing control device 11 and the movable shelf control device 20 restrict the movement of the movable shelf 3 (prohibit/prohibit movement). If it is moving, it can be stopped).

As described with reference to FIGS. 1 to 3, the movable shelf device 10 includes a first shelf and a second shelf that face each other in the movement direction M (first direction) along the horizontal plane. A second shelf is provided so as to be relatively movable in the movement direction M, and an inter-shelf passage E is formed between the first shelf and the second shelf in a state in which the first shelf and the second shelf are separated from each other. Here, the first shelf and the second shelf correspond to all the shelves 1. FIG. For example, if the first shelf is the first fixed shelf 21 and the second shelf is the first movable shelf 31, as shown in FIGS. An inter-shelf passage E is formed at . If the first shelf is the first movable shelf 31 and the second shelf is the second movable shelf 32, an inter-shelf passage E is formed between the first movable shelf 31 and the second movable shelf 32. As shown in FIG. Similarly, an inter-shelf passage E can be formed between the second movable shelf 32 and the third movable shelf 33 and between the third movable shelf 33 and the second fixed shelf 22 . 1 and 2, the first shelf is the first movable shelf 31, the second shelf is the first fixed shelf 21, and the first shelf and the second shelf are in reverse correspondence. good too. The same applies to other examples. In addition, the inter-shelf passage E may be formed at two or more locations at the same time. For example, as illustrated in FIG. 7, inter-shelf passages E are formed at two locations between the first movable shelf 31 and the second movable shelf 32 and between the second movable shelf 32 and the third movable shelf 33. may be

The movable shelf device 10 includes an obstacle sensor for detecting an obstacle B (see FIG. 6) existing in the inter-shelf passage E, and a first shelf and a second shelf. and a distance sensor that detects a distance D between shelves (see FIG. 4 and the like), which is a distance in which the distance is opposed to the moving direction M. As will be described later, the detection range S (see FIGS. 4, 5, etc.) by the obstacle sensor is dynamically variably set according to the distance D between shelves. Although the details will be described later, in this embodiment, the single inter-shelf sensor 5 constitutes an obstacle sensor and a distance sensor. Therefore, the detection of the inter-shelf distance D and the setting of the detection range S corresponding to the inter-shelf distance D can be appropriately performed, the system configuration can be simplified, and the cost can be reduced.

As shown in FIGS. 1 and 2, the inter-shelf sensor 5 is provided between the shelves 1 adjacent in the movement direction M one by one. That is, one side of two shelves 1 adjacent to each other in the moving direction M is provided with an inter-shelf sensor 5 . The other side of the two shelves 1 adjacent to each other in the moving direction M is provided with a reflector 7, which will be described later. As shown in FIGS. 1 and 2, the first movable shelf 31 has inter-shelf sensors 5 on the side facing the first fixed shelf 21 and the side facing the second movable shelf 32, respectively. The first fixed shelf 21 has a reflector 7 on the side facing the first movable shelf 31 , and the second movable shelf 32 has the reflector 7 on the side facing the first movable shelf 31 .

The second movable shelf 32 has the inter-shelf sensor 5 on the side facing the third movable shelf 33 and the reflector 7 on the side facing the first movable shelf 31 as described above. That is, the second movable shelf 32 has the inter-shelf sensor 5 on one side in the movement direction M and the reflector 7 on the other side. Similarly, the third movable shelf 33 has an inter-shelf sensor 5 on the side facing the second fixed shelf 22 and a reflector 7 on the side facing the second movable shelf 32 . That is, like the second movable shelf 32, the third movable shelf 33 also has the inter-shelf sensor 5 on one side in the movement direction M and the reflector 7 on the other side. Like the first fixed shelf 21 , the second fixed shelf 22 has a reflector 7 on the side facing the third movable shelf 33 . The first fixed shelf 21 and the second fixed shelf 22 are provided only with the reflectors 7 .

Here, the fixed shelf 2 has only the reflecting plate 7 and does not have the inter-shelf sensor 5, one of the plurality of movable shelves 3 is equipped with the inter-shelf sensor 5 on both sides in the moving direction M, and the other moving A form in which the shelf 3 is provided with the inter-shelf sensor 5 on one side in the moving direction M and the reflector 7 on the other side is illustrated. This is because, as illustrated in FIG. 3, the movable shelf 3 is equipped with an electric circuit such as an opening/closing control device 11 for moving the movable shelf 3, and the structure is such that the inter-shelf sensor 5 can be easily installed. . However, this does not prevent the fixed shelf 2 from being provided with the inter-shelf sensor 5 . For example, one of the two fixed shelves 2 has only the inter-shelf sensor 5 and does not have the reflector 7, and the other has only the reflector 7 and does not have the inter-shelf sensor 5, and all the movable shelves 3 are movable. A configuration in which the inter-shelf sensor 5 is provided on one side in the direction M and the reflector 7 is provided on the other side may be employed. In this case, the structure of all movable racks 3 is unified, and productivity and maintainability are improved.

As described above, the obstacle sensor and the distance sensor are configured by the same inter-shelf sensor 5 . Specifically, the obstacle sensor and range sensor are composed of a single active sensor that detects an object by transmitting light and receiving reflected light from the object. Here, light includes infrared light, visible light, laser light, and the like. Further, as described above with reference to FIGS. 1 and 2, an active sensor (inter-shelf sensor 5) is attached to one of the first shelf and the second shelf, A reflecting plate 7 is attached to the other side. The single active sensor (inter-shelf sensor 5) functions as an obstacle sensor for detecting an obstacle B based on the reflected light from an object existing in the inter-shelf passage E, and the reflector 7 is an object and functions as a distance sensor that detects the distance D between shelves based on the reflected light from the reflector plate 7 .

As one aspect, the inter-shelf sensor 5 is preferably configured using a three-dimensional range sensor. The three-dimensional range sensor emits light (for example, laser light) horizontally and vertically and scans to detect the presence or absence of an object in the detection range S and the distance to the object. In general, the horizontal scanning angle and the vertical scanning angle of the three-dimensional range sensor are not the same. For example, the scanning angle in the horizontal direction is 180 to 210 [deg], and the scanning angle in the vertical direction is about 30 to 45 [deg] (angle of depression: 5 to 10 [deg], angle of elevation: about 20 to 40 [deg]). . In order to appropriately detect the feet of the operator, the shelf space sensor 5 is installed below, for example, at a position approximately 200 to 300 [mm] from the floor as shown in FIG.

FIG. 6 shows the principle of detecting the reflector 7. As shown in FIG. The energy level of the reflected light from the reflector 7 (illustrated by the voltage [V] when the reflected light is photoelectrically converted in FIG. 6) is the reflected light from the obstacle B. is configured to be higher than the energy level of Specifically, a value higher than the energy level of the obstacle B having the highest energy level of the reflected light among the assumed obstacles B is set as the reference value TH, and the reflected light having the energy level exceeding the reference value TH is defined as the reference value TH. It is preferable that the reflecting plate 7 is configured so as to For example, it is preferable that the reflector 7 is made of a material or has a surface finish that has a higher reflectance than the expected obstacle B. Further, the reflector 7 may be installed at an angle such that the angle of reflection (and the angle of incidence) becomes smaller depending on the positional relationship between the sensor 5 between shelves and the reflector 7 .

As shown in FIG. 2, the reflector 7 is installed below, for example, at a position approximately 200 to 300 [mm] from the floor surface. Moreover, as shown in FIG. 1, a plurality of (two) reflectors 7 are provided at spaced apart positions in the shelf width direction W (second direction) along the horizontal plane and orthogonal to the moving direction M. As shown in FIG. Here, a form in which two reflectors 7 are provided in the shelf width direction W is illustrated, but it is not barred from providing three or more reflectors 7 . By providing a plurality of reflectors 7, the detection range S can be appropriately set even when the shelf-to-shelf distance D differs in the shelf width direction W, as will be described later with reference to FIG. However, in the case of the movable shelf apparatus 10 having the rails 4, if the difference in the inter-shelf distance D in the shelf width direction W is small, as will be described later, even if there is only one reflector 7, good.

Hereafter, the inter-shelf sensor 5 detects the inter-shelf distance D based on the reflected light from the reflective plate 7 with the reflective plate 7 as the object, and dynamically sets the detection range S according to the inter-shelf distance D. explain the procedure for As shown in FIG. 4, the first reflecting plate 71 and the second reflecting plate 72 are provided at positions spaced apart in the shelf width direction W, that is, at both ends of the shelf 1 in the shelf width direction W here. The inter-shelf sensor 5 is provided at a position facing one of the reflectors 7 , here the first reflector 71 . However, not limited to this arrangement, the inter-shelf sensor 5 is provided at a central position in the shelf width direction W (for example, a position where the distances in the shelf width direction W between the first reflecting plate 71 and the second reflecting plate 72 are equal). may be The inter-shelf sensor 5 transmits light, and based on the reflected light from the first reflector 71 and the second reflector 72, the positions of the first reflector 71 and the second reflector 72 and the position of the first reflector 71 and the distance to the second reflector 72 are detected (inter-shelf distance detection step).

The opening/closing control device 11 sets the virtual straight line L (reference position) based on the detection result of the inter-shelf sensor 5 . The imaginary straight line L is a straight line parallel to the shelf 1 facing the shelf 1 (movable shelf 3) on which the inter-shelf sensor 5 is installed with the inter-shelf passage E interposed therebetween. The virtual straight line L is a predetermined distance (approximately 10 to 20 mm) from the shelf 1 so that the detection range S set based on the virtual straight line L does not interfere with the shelf 1 provided with the reflector 7. ) is set to a spaced position (a position spaced from the side of the shelf 1 (movable shelf 3) on which the shelf interval sensor 5 is installed) (reference position setting step). As shown in FIG. 4, the opening/closing control device 11 sets the detection range S to the range from the shelf 1 (movable shelf 3) on which the shelf interval sensor 5 is installed to the virtual straight line L (detection range setting step).

When the movable shelf 3 moves (moves toward the reflecting plate 7 in the case of FIG. 4), the inter-shelf distance D of the inter-shelf passage E becomes shorter. The inter-shelf sensor 5 repeatedly detects the inter-shelf distance D at a constant cycle, and the opening/closing control device 11 repeatedly sets the virtual straight line L according to the updated inter-shelf distance D, and repeatedly detects the detection range S set. That is, when the movable shelf 3 moves in the direction in which the inter-shelf passage E is reduced, the above-described inter-shelf distance detection step, reference position setting step, and detection range setting step are sequentially and repeatedly executed, and the inter-shelf sensor 5 (obstacle The detection range S of the object sensor) is dynamically variably set according to the distance D between shelves. In FIG. 4, the shelf 1 provided with the inter-shelf sensor 5 moves as the movable shelf 3 , but the shelf 1 provided with the reflector 7 may be the movable shelf 3 .

For example, in FIGS. 1 and 2, when the first movable shelf 31 moves toward the second movable shelf 32, the detection range S of the inter-shelf sensor 5 installed on the moving first movable shelf 31 moves. variably set. That is, the detection range S of the inter-shelf sensor 5 installed on the moving shelf 1 (moving shelf 3) is set. For example, the opening/closing control device 11 for the first movable shelf 31 controls the motor 12 to move the first movable shelf 31, and dynamically adjusts the detection range S of the sensor 5 between shelves installed on the first movable shelf 31. variably set to

On the other hand, in FIGS. 1 and 2, when the second movable shelf 32 moves in the direction of the first movable shelf 31, the detection range S of the inter-shelf sensor 5 installed on the stationary first movable shelf 31 moves. variably set. That is, the detection range S of the inter-shelf sensor 5 installed on the stationary shelf 1 (movable shelf 3) is set. For example, the opening/closing control device 11 of the first movable shelf 31 stops the first movable shelf 31 by not controlling the motor 12 or by stopping the motor 12, and detects the sensor 5 between the shelves installed on the first movable shelf 31. The range S is dynamically variably set. The opening/closing control device 11 for the second movable shelf 32 controls the motor 12 to move the second movable shelf 32, and the detection range S of the sensor 5 between shelves installed on the second movable shelf 32 is dynamically variable. No need to set.

However, by moving the second movable shelf 32 toward the first movable shelf 31 , an inter-shelf passage E is formed between the second movable shelf 32 and the third movable shelf 33 . Therefore, as the inter-shelf passage E is formed between the second movable shelf 32 and the third movable shelf 33, the opening/closing control device 11 of the second movable shelf 32 is moved to the second movable shelf 32 and the third movable shelf 33. The detection range S of the inter-shelf sensor 5 installed on the second movable shelf 32 may be variably set according to the inter-shelf distance D between the second movable shelf 33 and the third movable shelf 33 .

For example, as illustrated in FIG. 7, inter-shelf passages E are provided at two locations between the first movable shelf 31 and the second movable shelf 32 and between the second movable shelf 32 and the third movable shelf 33. can also The inter-shelf distance D in this case is the third inter-shelf distance D3, which is half the second inter-shelf distance D2. In such a case, according to the movement of the second movable shelf 32, the detection range S of the inter-shelf sensor 5 installed on the first movable shelf 31 and the detection range S of the inter-shelf sensor 5 installed on the second movable shelf 32 At the same time, the detection range S can be set dynamically and variably.

By the way, as illustrated in FIGS. 1 and 2, when the movable shelf apparatus 10 has the rails 4 and the movable shelves 3 are guided by the rails 4 and move in the moving direction M, the inter-shelf passage E is reduced. The movable shelf 3 moving to the direction W is easy to maintain parallel to the shelf width direction W. That is, the inter-shelf distance D between the two shelves 1 (first shelf and second shelf) facing each other across the inter-shelf passage E is substantially the same regardless of the position in the shelf width direction W. Therefore, the shape of the inter-shelf passage E in plan view (viewed in a direction perpendicular to the horizontal plane) is substantially rectangular, and the detection range S is also set substantially rectangular. Therefore, even if the number of reflectors 7 is one, for example, the virtual straight line L can be set appropriately. The reflector 7 in this case may be the first reflector 71 or the second reflector 72 .

On the other hand, although illustration is omitted, if the movable shelf device 10 does not have the rail 4, or if it has a track like the rail 4, the wheels 13 can move freely in the shelf width direction W within the track. When the degree is high, there is a possibility that the movable shelf 3 moves so as to reduce the inter-shelf passage E in a state not parallel to the shelf width direction W. In such a case, the sensor 5 between shelves detects the distance D between shelves based on the reflected light from the reflector 7 with the reflector 7 as the object, and detects according to the distance D between the shelves. It illustrates a procedure for dynamically variably setting the range S.

Similar to the embodiment described above with reference to FIG. 2. The position of the reflector 72 and the distances to the first reflector 71 and the second reflector 72 are detected (inter-shelf distance detection step). In the embodiment described above with reference to FIG. 4 , the movable shelf 3 that moves so as to contract the inter-shelf passage E can easily maintain a state parallel to the shelf width direction W, and the two units facing each other with the inter-shelf passage E interposed therebetween can be easily maintained. An example in which the inter-shelf distance D between the shelves 1 (the first shelf and the second shelf) has substantially the same value regardless of the position in the shelf width direction W is shown. However, in the form shown in FIG. 5, the inter-shelf distance D between the two shelves 1 (first shelf and second shelf) facing each other across the inter-shelf passage E varies depending on the position in the shelf width direction W. there is Specifically, the inter-shelf distance D between the shelf 1 on which the inter-shelf sensor 5 is installed and the movable shelf 3 on the side of the first reflector 71, and the distance D between the shelf 1 and the movable shelf on the side of the second reflector 72 3 is different from the shelf-to-shelf distance D.

The opening/closing control device 11 sets the virtual straight line L (reference position) based on the detection result of the inter-shelf sensor 5 . As described above, the imaginary straight line L is a straight line parallel to the shelf 1 facing the shelf 1 (movable shelf 3) on which the inter-shelf sensor 5 is installed with the inter-shelf passage E interposed therebetween. The virtual straight line L is a predetermined distance (approximately 10 to 20 [mm]) from the shelf 1 (here, the movable shelf 3) provided with the reflector 7, and the distance between the shelves 1 on which the inter-shelf sensor 5 is installed. side (reference position setting step). In the form described above with reference to FIG. 4, the inter-shelf distance D between the two shelves 1 (first shelf and second shelf) facing each other across the inter-shelf passage E is the position in the shelf width direction W. Since the values were substantially the same regardless of the values, the imaginary straight line L was set as a straight line substantially parallel to the shelf width direction W. However, in the form shown in FIG. 5, the inter-shelf distance D between the two shelves 1 (first shelf and second shelf) facing each other across the inter-shelf passage E varies depending on the position in the shelf width direction W. there is Therefore, the imaginary straight line L is set as a straight line that is inclined with respect to the shelf width direction W. As shown in FIG.

As shown in FIG. 5, the opening/closing control device 11 sets a detection range S within a range from the shelf 1 on which the shelf interval sensor 5 is installed to the virtual straight line L (detection range setting step). The inter-shelf sensor 5 repeatedly detects the inter-shelf distance D at a constant cycle, and the opening/closing control device 11 repeatedly sets the virtual straight line L according to the updated inter-shelf distance D, and repeatedly detects the detection range S set. That is, when the movable shelf 3 moves in the direction in which the inter-shelf passage E is reduced, the above-described inter-shelf distance detection step, reference position setting step, and detection range setting step are sequentially and repeatedly executed, and the inter-shelf sensor 5 (obstacle The detection range S of the object sensor) is dynamically variably set according to the distance D between shelves.

It should be noted that the detection range S is set in a substantially trapezoidal shape when viewed from above (when viewed in a direction perpendicular to the horizontal plane). In this case, the shape of the inter-shelf passage E in plan view is also substantially trapezoidal. Therefore, the opening/closing control device 11 can set the detection range S so that the entire inter-shelf passage E can be set as the detection range S. Although FIG. 5 illustrates a mode in which the movable shelf 3 equipped with the reflecting plate 7 moves, it is of course possible to adopt a mode in which the movable shelf 3 equipped with the inter-shelf sensor 5 moves.

As described above, the movable shelf apparatus 10 can confirm the existence or non-existence of the obstacle B using the entire area of the inter-shelf passage E as the detection range S before the movable shelf 3 starts to move. Therefore, the movement of the movable shelf 3 can be appropriately started. Further, even when the movable shelf 3 moves so as to narrow the inter-shelf passage E, the detection range S is dynamically variably set so that the entire area of the inter-shelf passage E becomes the detection range S. Therefore, even if an obstacle B such as a worker enters the inter-shelf passage E after the movable shelf 3 starts moving, the obstacle B can be detected appropriately. As a result, the movable shelf device 10 can quickly stop the movable shelf 3 when the obstacle B enters the passage E between shelves.

8 to 10 show comparative examples of the detection range S set in the passage E between shelves. FIG. 8 shows a detection range set before the first movable shelf 31 or the second movable shelf 32 moves, for example, in the inter-shelf passage E formed between the first movable shelf 31 and the second movable shelf 32. S (first detection range S1) is shown. Before the first movable shelf 31 or the second movable shelf 32 starts to move, the movable shelf device confirms the presence or absence of the obstacle B by setting the entire area of the inter-shelf passage E to the first detection range S1. can be done. Thereby, the movement of the movable shelf 3 can be appropriately started. This point is the same as the present embodiment described above.

FIG. 9 exemplifies a case where the first movable shelf 31 moves in a direction in which the inter-shelf passage E is reduced. In many conventional movable shelf apparatuses, in this case, the vicinity of the moving first movable shelf 31 is defined as the detection range S (second detection range S2), so that the second movable shelf 32 moves toward the obstacle B as it moves. It is suppressed that it is detected as For example, the second detection range S2 is set in a range of approximately 100 to 300 [mm] from the first movable shelf 31 according to the first inter-shelf distance D1 (approximately 50 to 100 [mm]). In this case, until the first movable shelf 31 approaches the second movable shelf 32, the obstacle B that has entered the vicinity of the moving first movable shelf 31 can be appropriately detected. Further, when the first movable shelf 31 approaches the second movable shelf 32 and the second movable shelf 32 is detected as the obstacle B, the first movable shelf 31 is controlled to stop. However, considering the time it takes for the first movable shelf 31 to stop, the first movable shelf 31 will stop with approximately the first inter-shelf distance D1 left.

In this case, an area in which the obstacle B cannot be detected is created in the passage E between shelves. When the first movable shelf 31 approaches the second movable shelf 32 and the second movable shelf 32 is detected as the obstacle B, the first movable shelf 31 is approaching the stop position. The first movable rack 31 is decelerated compared to when the rack 31 is moving at a steady speed. However, when the first movable shelf 31 is moving at a constant speed, the speed is not decelerated, so when the obstacle B enters the inter-shelf passage E, the first movable shelf 31 can move quickly. may contact the obstacle B without being able to stop. As described above, in this embodiment, even when the first movable shelf 31 is moving, the entire area of the inter-shelf passage E becomes the detection range S, so such a possibility is reduced.

FIG. 10 exemplifies a case where the second movable shelf 32 moves in a direction in which the inter-shelf passage E is reduced. As in the form illustrated in FIG. 9, the second detection range S2 is set in the vicinity of the first movable shelf 31, which is the shelf 1 that does not move. That is, the second movable shelf 32 moves without setting the detection range S for detecting the obstacle B in the vicinity of the moving second movable shelf 32 . Therefore, the possibility of contact between the obstacle B entering the inter-shelf passage E and the second movable shelf 32 tends to be higher than in the form illustrated in FIG. 9 . As described above, in this embodiment, even when the first movable shelf 31 is moving, the entire area of the inter-shelf passage E becomes the detection range S, so such a possibility is reduced.

As described above, the movable shelf device 10 according to the present embodiment described above with reference to FIGS. can be detected.

[Overview of embodiment]
An overview of the movable shelf apparatus described above will be briefly described below.

As one preferred aspect, the movable shelf device includes a first shelf and a second shelf that face each other in a first direction along a horizontal plane, and the first shelf and the second shelf face each other in the first direction. A movable shelf device provided movably, wherein an inter-shelf passage is formed between the first shelf and the second shelf in a state in which the first shelf and the second shelf are separated from each other, wherein the shelf an obstacle sensor for detecting an obstacle existing in the inter-shelf passage in a state where the inter-shelf passage is formed; a distance sensor for detecting distance, wherein the obstacle sensor and the distance sensor are configured by a single active sensor that detects the object by transmitting light and receiving reflected light from the object. , the detection range of the obstacle sensor is dynamically variably set according to the distance between the shelves.

In the conventional configuration, in many cases, before the first shelf and the second shelf move relative to each other, the existence or non-existence of an obstacle is determined using substantially the entire inter-shelf passage as a detection range. Then, when the existence of the obstacle is not confirmed, relative movement between the first rack and the second rack is started. On the other hand, when the first shelf and the second shelf start to move relative to each other, the path between the shelves becomes narrower than the detection range, so the first shelf or the second shelf may be detected as an obstacle. The detection range is often reduced to such a range that the first shelf or the second shelf are not detected. For this reason, an area outside the detection range is generated in the inter-shelf passage. However, according to this configuration, the inter-shelf distance that changes due to the relative movement of the first shelf and the second shelf is detected, and the detection range is dynamically set variably according to the inter-shelf distance. Therefore, not only before the first shelf and the second shelf move relative to each other, but also after the first shelf and the second shelf start to move relative to each other, the detection range covers almost the entire passage between the shelves, which is gradually reduced. can be As a result, during the entire period from before the relative movement of the first shelf and the second shelf to the completion of the relative movement of the first shelf and the second shelf, an obstacle entering the inter-shelf passage is appropriately detected. be able to. Furthermore, since the obstacle sensor and the distance sensor are composed of a single active sensor, the system configuration can be simplified and the cost can be reduced. As described above, according to this configuration, in a movable shelf apparatus having a plurality of relatively movable shelves, it is possible to always appropriately detect an obstacle present in the inter-shelf passage formed between the shelves. can.

wherein the single active sensor is attached to one of the first shelf and the second shelf, a reflector is attached to the other of the first shelf and the second shelf, and the single active sensor is and detecting the obstacle based on the reflected light from the object, with the object existing in the inter-shelf passage as the object, and detecting the obstacle based on the reflected light from the reflector, with the reflector as the object. is preferably used to detect the inter-shelf distance.

According to this configuration, it is possible to appropriately detect the inter-shelf distance and set the detection range according to the inter-shelf distance.

Moreover, it is preferable that the reflector is configured such that the energy level of the reflected light from the reflector is higher than the energy level of the reflected light from the object that is the obstacle.

When an obstacle exists in the inter-shelf passage, if the reflected light from the obstacle is detected as the reflected light from the reflector, the inter-shelf distance cannot be accurately detected. Therefore, it is preferable to be able to distinguish between the energy level of the reflected light from the obstacle and the energy level of the reflected light from the reflector. The energy level of reflected light from an obstacle varies widely depending on the type of obstacle. Also, if the energy level of the reflected light from the reflector is set low, there is a high possibility that it will be difficult to distinguish it from obstacles. By arranging the structure of the reflectors, it is easy to keep the energy level of the reflected light within a certain range. can also increase the energy level of Therefore, according to this configuration, the inter-shelf distance can be detected by appropriately distinguishing between the obstacle and the reflector.

Moreover, it is preferable that a plurality of the reflectors are provided at positions spaced apart in a second direction along the horizontal plane and orthogonal to the first direction.

Even with a single reflector, it is possible to detect the distance between shelves. However, the inter-shelf distance can be detected more accurately by installing a plurality of reflectors at positions spaced apart in the second direction.

1: Shelf (first shelf, second shelf)
2: Fixed shelf (first shelf, second shelf)
3: Mobile shelf (1st shelf, 2nd shelf)
5: Shelf sensor (single active sensor)
7: Reflector 10: Moving shelf device 21: First fixed shelf (first shelf, second shelf)
22: Second fixed shelf (first shelf, second shelf)
31: 1st mobile shelf (1st shelf, 2nd shelf)
32: Second mobile shelf (first shelf, second shelf)
33: Third mobile shelf (first shelf, second shelf)
71: first reflector (reflector)
72: Second reflector (reflector)
B: Obstacle D: Distance between shelves E: Passage between shelves M: Moving direction (first direction)
S: Detection range W: Shelf width direction (second direction)

Claims (4)

A first shelf and a second shelf facing each other in a first direction along a horizontal plane are provided, and the first shelf and the second shelf are provided so as to be relatively movable in the first direction. A movable shelf device in which an inter-shelf passage is formed between the first shelf and the second shelf while the second shelf is separated from the second shelf,
an obstacle sensor for detecting an obstacle existing in the inter-shelf passage in a state where the inter-shelf passage is formed;
a distance sensor that detects an inter-shelf distance, which is the distance between the first shelf and the second shelf facing each other in the first direction,
the obstacle sensor and the distance sensor are configured by a single active sensor that detects the object by transmitting light and receiving reflected light from the object;
The movable shelf apparatus, wherein the detection range of the obstacle sensor is dynamically variably set according to the inter-shelf distance so that the entire area of the inter-shelf passage is within the detection range . the single active sensor is attached to one of the first shelf and the second shelf, and a reflector is attached to the other of the first shelf and the second shelf;
The single active sensor detects the obstacle based on the reflected light from the object existing in the inter-shelf passage as the object, and detects the obstacle based on the reflected light from the object, and detects the obstacle from the reflector as the object. 2. The movable shelf apparatus according to claim 1, wherein said inter-shelf distance is detected based on said reflected light from said rack. 3. The movable shelf apparatus according to claim 2 , wherein a plurality of said reflectors are provided at positions spaced apart in a second direction orthogonal to said first direction along a horizontal plane. A first shelf and a second shelf facing each other in a first direction along a horizontal plane are provided, and the first shelf and the second shelf are provided so as to be relatively movable in the first direction. A movable shelf device in which an inter-shelf passage is formed between the first shelf and the second shelf while the second shelf is separated from the second shelf,
an obstacle sensor that detects an obstacle existing in the inter-shelf passage in a state where the inter-shelf passage is formed;
a distance sensor that detects an inter-shelf distance, which is the distance between the first shelf and the second shelf facing each other in the first direction,
the obstacle sensor and the distance sensor are configured by a single active sensor that detects the object by transmitting light and receiving reflected light from the object;
The detection range of the obstacle sensor is dynamically variably set according to the distance between the shelves ,
the single active sensor is attached to one of the first shelf and the second shelf, and a reflector is attached to the other of the first shelf and the second shelf;
The single active sensor detects the obstacle based on the reflected light from the object, with the object existing in the inter-shelf passage as the object, and detects the obstacle based on the reflected light from the object. detecting the distance between shelves based on the reflected light of
The movable shelf device, wherein the plurality of reflectors are provided at positions spaced apart in a second direction perpendicular to the first direction along the horizontal plane .

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