WO2020189297A1 - 移動棚装置 - Google Patents

移動棚装置 Download PDF

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Publication number
WO2020189297A1
WO2020189297A1 PCT/JP2020/009332 JP2020009332W WO2020189297A1 WO 2020189297 A1 WO2020189297 A1 WO 2020189297A1 JP 2020009332 W JP2020009332 W JP 2020009332W WO 2020189297 A1 WO2020189297 A1 WO 2020189297A1
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WO
WIPO (PCT)
Prior art keywords
moving shelf
shelf
moving
control unit
unit
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2020/009332
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English (en)
French (fr)
Japanese (ja)
Inventor
井上俊介
池永一郎
上田基晴
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Space2020 Co Ltd
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Space2020 Co Ltd
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Filing date
Publication date
Application filed by Space2020 Co Ltd filed Critical Space2020 Co Ltd
Publication of WO2020189297A1 publication Critical patent/WO2020189297A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47B—TABLES; DESKS; OFFICE FURNITURE; CABINETS; DRAWERS; GENERAL DETAILS OF FURNITURE
    • A47B53/00—Cabinets or racks having several sections one behind the other
    • A47B53/02—Cabinet systems, e.g. consisting of cabinets arranged in a row with means to open or close passages between adjacent cabinets
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/10—Storage devices mechanical with relatively movable racks to facilitate insertion or removal of articles

Definitions

  • the present invention relates to a mobile shelf device.
  • the mobile shelf device is equipped with multiple mobile shelves that move along rails installed on the floor, and has been introduced to make effective use of space in libraries, offices, warehouses, etc.
  • the weight of the moving shelf tends to be heavier depending on the weight of the moving shelf itself and the weight of the articles stored in the moving shelf. Therefore, an electric moving shelf device including an electric moving shelf that moves by using a motor has been proposed (see, for example, Patent Document 1).
  • each moving shelf is provided with an operation button for the user of the moving shelf device to move the moving shelf to form a passage between the moving shelves.
  • the moving shelf drives a motor to start moving toward an adjacent moving shelf in order to form a passage in the space after the movement.
  • the movement of the moving shelf ends, for example, when the operation of the operation button by the user is completed, or when the distance between the moving shelf and the adjacent moving shelf becomes shorter than a predetermined threshold value.
  • the distance between the moving shelf and the adjacent moving shelf is measured by the distance sensor provided in each moving shelf.
  • the distance sensor is controlled to operate at predetermined time intervals according to an operation program. Therefore, the distance sensor always requires power to operate (every predetermined time).
  • each mobile shelf is a cableless mobile shelf device that moves by power from a battery
  • the demand for improving the power saving performance of the mobile shelf device is supplied via a cable in order to avoid battery consumption. It is more expensive than a cable-type mobile shelf device that moves with the power generated.
  • An object of the present invention is to improve the power saving performance of the mobile shelf device.
  • the moving shelf device includes a first moving shelf and a second moving shelf arranged adjacent to the first moving shelf, and the first moving shelf has a first moving shelf. 2
  • the operation unit operated to move in the direction toward the moving shelf and the first control unit for switching the operation mode of the first moving shelf are provided, and the second moving shelf sets the operation mode of the second moving shelf.
  • the operation mode of the first moving shelf includes a second control unit for switching, a movable mode in which the first moving shelf can be moved, and a standby mode in which the first moving shelf cannot be moved.
  • the operation mode includes a movable mode in which the second moving shelf can be moved and a standby mode in which the second moving shelf cannot be moved, and the operation modes of the first moving shelf and the second moving shelf are in the standby mode.
  • the first control unit switches the operation mode of the first moving shelf to the movable mode
  • the second control unit switches the operation mode of the second moving shelf to the movable mode.
  • the power saving performance of the mobile shelf device can be improved.
  • FIG. 5 is an external view showing a state in which a passage is formed between a moving shelf and a fixed shelf in the moving shelf device of FIG. It is a schematic diagram explaining the communication of the moving shelf device of FIG. It is a sequence diagram of the communication of the mobile shelf device in the case where the communication of the mobile shelf device of FIG. 1 is functioning normally. Of the communications of FIG.
  • FIG. 8 it is a sequence diagram of the communication of the mobile shelf device when an abnormality occurs in the first main communication. Of the communications of FIG. 8, it is a sequence diagram of the communication of the mobile shelf device when an abnormality occurs in the second main communication. It is a flowchart which shows the example of the operation of the moving shelf of FIG. It is a flowchart which shows the example of the case where the moving shelf operates independently in the operation of the moving shelf of FIG. It is a flowchart which shows an example of the case where the moving shelf is interlocked operation in the operation of the moving shelf of FIG.
  • FIG. 5 is a sequence diagram showing a part of the processing of the operation of the mobile shelf device when an abnormality has occurred in the main communication in the communication of FIG. 8.
  • FIG. 5 is a sequence diagram showing another part of the processing of the operation of the mobile shelf device when an abnormality has occurred in the main communication in the communication of FIG. 8.
  • FIG. 1 is an external view showing an embodiment of the mobile shelf device according to the present invention.
  • the moving shelf device S includes a pair of rails 1a and 1b (see FIG. 4), one fixed shelf 2, and two moving shelves 3A and 3B.
  • the configurations of the two moving shelves 3A and 3B are common. In the following description, when it is not necessary to distinguish each of the moving shelves 3A and 3B, each of them is collectively referred to as "moving shelf 3". When distinguishing the components included in the moving shelves 3A and 3B, the code of the component included in the moving shelf 3A is "(A)”, and the code of the component included in the moving shelf 3B is "(B)”. , Attached respectively.
  • the mobile shelf device S moves each of the mobile shelves 3 independently by electric power, and after the movement of the moving shelves 3, an electric movement that forms a passage in the space (area) occupied by the moving shelves 3 before the movement. It is a shelf device.
  • the "aisle” is an area having a width that does not hinder the work of putting in and taking out articles on the fixed shelf 2 and the moving shelves 3A and 3B. Passages can be formed before and after the moving shelf 3. In the example shown in FIG. 1, the passage is formed between the moving shelf 3B and the wall W1 by converging the moving shelves 3A and 3B toward the fixed shelf 2 side. "Convergence” means that a plurality of moving shelves 3 gather at a predetermined position in a state of being closest to each other.
  • front is the direction in which the moving shelf 3 is separated from the fixed shelf 2 (left side of the paper in FIG. 1).
  • “Rear” is the direction in which the moving shelf 3 approaches the fixed shelf 2 (to the right of the paper in FIG. 1).
  • the moving shelves 3A and 3B are arranged side by side in the front-rear direction in the order of the moving shelves 3B and the moving shelves 3A from the front.
  • the fixed shelf 2 is arranged behind the moving shelf 3A. That is, the moving shelf 3A is arranged in front of the fixed shelf 2 adjacent to the fixed shelf 2, and the moving shelf 3B is arranged adjacent to the moving shelf 3A in front of the moving shelf 3A.
  • Rails 1a and 1b guide the movement of the moving shelf 3.
  • the rails 1a and 1b are laid parallel to each other on the floor surface F.
  • the number of rails in the present invention is not limited to "2". That is, for example, the number of rails may be "3" or more, or may be "0".
  • the mobile shelf device according to the present invention may be a railless mobile shelf device without rails.
  • the fixed shelf 2 stores articles and controls the operation of each moving shelf 3.
  • the fixed shelf 2 is a control shelf in the present invention.
  • the fixed shelf 2 is arranged at one end of the rails 1a and 1b (on the right side of the paper in FIG. 1).
  • the fixed shelf 2 is connected to the commercial power source 4 and also has a function as a power supply device for supplying electric power to the moving shelf 3.
  • the configuration of the fixed shelf 2 will be described later.
  • the moving shelf 3 stores articles and moves in the front-rear direction on rails 1a and 1b (see FIG. 4) according to an operation by a user of the moving shelf 3.
  • the moving shelf 3A functions as a first moving shelf or a second moving shelf in the present invention.
  • the moving shelf 3B functions as a second moving shelf in the present invention when the moving shelf 3A functions as a first moving shelf in the present invention, and when the moving shelf 3A functions as a second moving shelf in the present invention, the first in the present invention.
  • 1 Functions as a moving shelf.
  • the moving shelf 3 is installed on the rails 1a and 1b so as to be movable in the front-rear direction on the rails 1a and 1b. The configuration of the moving shelf 3 will be described later.
  • the moving shelf 3 moves in a state where the moving shelf device S is viewed from above and the opening surface of the moving shelf 3 is orthogonal to the rails 1a and 1b (see FIG. 4).
  • the "opening surface" of the moving shelf 3 is a surface that faces the moving direction (front-back direction) of the moving shelf 3 and opens to store articles in the moving shelf 3.
  • the moving shelf device S is a cableless type moving shelf device in which the space between the fixed shelf 2 and the moving shelf 3A and the space between the moving shelf 3A and the moving shelf 3B are not connected by a power cable or a communication cable.
  • the configuration of the mobile shelf device according to the present invention is not limited to the present embodiment. That is, for example, the moving shelf device may include the moving shelf in the present invention instead of the fixed shelf. In this case, the moving shelf is the control shelf in the present invention and is connected to a commercial power source.
  • each moving shelf may be moved under the control of a fixed shelf. That is, for example, each moving shelf may move based on a signal from the fixed shelf when the fixed shelf is operated by the user.
  • the number of moving shelves and fixed shelves in the present invention is not limited to the present embodiment. That is, for example, the number of moving shelves may be "3 or more". Further, the number of fixed shelves may be plural. In this case, for example, the two fixed shelves are arranged at both ends of the rail with the moving shelf in between.
  • the fixed shelf in the present invention does not have to be arranged at the end of the rail. That is, for example, the fixed shelf may be arranged near the center in the length direction of the rail.
  • the moving shelf device may be a cable-type moving shelf in which the space between the fixed shelf and the moving shelf and the space between the moving shelf and the moving shelf are connected by a power cable or a communication cable. ..
  • FIG. 2 is a schematic front view schematically showing a state in which the fixed shelf 2 is viewed from the front.
  • FIG. 3 is a functional block diagram of the fixed shelf 2.
  • solid arrows represent the flow of power and dashed arrows represent the flow of signals.
  • the fixed shelf 2 includes a frame body 21, a plurality of shelf boards 22 (22a, 22b, 22c, 22d, 22e, 22f), a control unit 23, a power unit 24, a communication unit 25, an operation unit 26, and the like.
  • a display unit 27 is provided.
  • the frame body 21 supports the shelf board 22 and stores articles.
  • the frame body 21 includes an underframe 211, a plurality of columns 212 (212a, 212b, 212c), a top plate 213, and two side plates 214 (214a, 214b).
  • the underframe 211 is a base that supports the support columns 212.
  • the support column 212 supports the top plate 213 and the plurality of shelf plates 22a-22f.
  • a plurality (for example, three) of the columns 212 are erected vertically at both ends and the center of the underframe 211 in the left-right direction (left-right direction of the paper surface in FIG. 2) in the front-rear direction (front-back direction of the paper surface in FIG. 2). Be placed.
  • the top plate 213 protects the articles stored in the fixed shelf 2 from dust and the like.
  • the top plate 213 is attached to the upper end of the support column 212.
  • the underframe 211, the columns 212, and the top plate 213 form the framework of the frame 21.
  • the side plate 214 protects the article from dust and the like.
  • the side plates 214a and 214b are attached to the left side surface and the right side surface of the frame of the frame body 21.
  • the front surface of the frame 21 is an opening surface.
  • the “article” is, for example, a tangible item that can be stored in a fixed shelf 2 or a moving shelf 3, such as books, documents, and equipment.
  • the shelf board 22 is a board on which articles are placed. Each shelf board 22a-22f is attached between a plurality of columns 212 at an arbitrary height. Each shelf board 22a-22f is removable from the frame body 21.
  • the number of shelves is not limited to "6" as long as the items can be stored in the fixed shelves. That is, for example, the number of shelves may be "5" or less, or may exceed "6". Further, the fixed shelf may be provided with a container for accommodating articles or the like in place of the shelf board or together with the shelf board.
  • the control unit 23 controls the operation of the entire fixed shelf 2 such as the operation of the power unit 24, the communication unit 25, and the display unit 27, and the operation of the moving shelf 3 (for example, changing the operation mode described later).
  • the control unit 23 is composed of, for example, a microprocessor such as a CPU (Central Processing Unit) and storage such as a RAM (ReadAccessMemory) and a ROM (ReadOnlyMemory).
  • the control unit 23 is housed in, for example, the frame body 21.
  • the electric power unit 24 controls the electric power in the fixed shelf 2.
  • the electric power unit 24 includes a power receiving unit 241, a power storage unit 242, and a power feeding unit 243.
  • the power receiving unit 241 is connected to the commercial power source 4 (see FIG. 1) and receives the power from the commercial power source 4.
  • the power receiving unit 241 is, for example, a connector or a plug for electric power.
  • the power receiving unit 241 is arranged, for example, on the rear surface of the underframe 211.
  • the power receiving unit may be arranged at the rear of the frame, and the arrangement of the power receiving unit is not limited to the rear surface of the underframe.
  • the power storage unit 242 stores the electric power from the power receiving unit 241.
  • the power storage unit 242 is a power storage module including a secondary battery capable of charging and discharging electric power such as a lithium ion battery.
  • the power storage unit 242 is housed in, for example, the underframe 211.
  • the power storage unit may be housed in the frame, and the storage position of the power storage unit is not limited to the underframe.
  • the power supply unit 243 supplies the electric power from the commercial power source via the power receiving unit 241 or the electric power stored in the power storage unit 242 to the power receiving unit 341 (see FIG. 5) described later of the adjacent mobile shelf 3A.
  • the power feeding unit 243 is, for example, a connector for electric power.
  • the power feeding unit 243 is arranged, for example, in front of the underframe 211.
  • the power feeding unit may be arranged at the front of the frame, and the arrangement of the power feeding unit is not limited to the front surface of the underframe.
  • the communication unit 25 communicates with the communication unit 35 (see FIG. 5) of the mobile shelf 3 described later.
  • the communication unit 25 is a wireless communication circuit capable of communicating with all the mobile shelves 3 by using a wireless communication method such as ZigBee.
  • the communication unit 25 is housed in, for example, the frame body 21.
  • the arrangement of the communication unit is not limited to this embodiment. That is, for example, the communication unit may be arranged at the upper portion or the side portion of the frame body.
  • the operation unit 26 outputs, for example, a signal corresponding to the operation of the administrator of the mobile shelf device S to the control unit 23.
  • the display unit 27 displays the amount of electricity stored in the electricity storage unit 342 (see FIG. 5) of each moving shelf 3, which will be described later, based on the signal from the control unit 23.
  • the operation unit 26 and the display unit 27 are composed of, for example, one touch panel type screen (monitor, display, etc.).
  • the operation unit 26 and the display unit 27 are arranged on the side surface of the frame body 21, for example.
  • FIG. 4 is a schematic front view schematically showing a state in which the moving shelf 3 is viewed from the front.
  • FIG. 5 is a functional block diagram of the moving shelf 3. In FIG. 5, solid arrows represent the flow of power and dashed arrows represent the flow of signals.
  • the mobile shelf 3 (3A) includes a vehicle body 31, a plurality of shelf boards 32 (32a, 32b, 32c, 32d, 32e, 32f), a control unit 33, a power unit 34, a communication unit 35, and a detection unit. 36, a drive unit 37, and an operation unit 38 are provided.
  • the vehicle 31 supports the shelf board 32 and houses the article.
  • the vehicle 31 includes an underframe 311, a plurality of columns 312 (312a, 312b, 312c), a top plate 313, and two side plates 314 (314a, 314b).
  • the configurations of the underframe 311 and the columns 312, the top plate 313, and the side plates 314 are the same as the configurations of the underframe 211, the columns 212, the top plate 213, and the side plates 214 of the fixed shelf 2.
  • the configuration of the shelf board 32 is the same as the configuration of the shelf board 22 of the fixed shelf 2.
  • the control unit 33 controls the operation of the entire moving shelf 3 such as the operations of the power unit 34, the communication unit 35, the detecting unit 36, and the driving unit 37, and switches the operation mode of the moving shelf 3.
  • the control unit 33 is composed of, for example, a microprocessor such as a CPU and storage such as RAM and ROM. The operation mode will be described later.
  • the control unit 33 is housed in, for example, the vehicle 31.
  • the electric power unit 34 receives and controls electric power on the mobile shelf 3.
  • the power unit 34 includes a power receiving unit 341, a power storage unit 342, a power feeding unit 343, and a power control unit 344.
  • the power receiving unit 341 is configured to be connected to the power supply unit 243 of the fixed shelf 2 (power supply unit 343 of the adjacent moving shelf 3), and receives power from the power supply unit 243.
  • the power receiving unit 341 is, for example, a connector for electric power.
  • the power receiving unit 341 is arranged, for example, on the rear surface of the underframe 311.
  • the power receiving unit may be arranged at the rear of the vehicle, and the arrangement of the power receiving unit is not limited to the rear surface of the underframe.
  • the power storage unit 342 stores the electric power supplied to each configuration of the mobile shelf 3 (control unit 33, communication unit 35, detection unit 36, drive unit 37, operation unit 38).
  • the power storage unit 342 is a power storage module including a secondary battery capable of charging and discharging electric power such as a lithium ion battery.
  • the power storage unit 342 is housed in, for example, the underframe 311.
  • the power storage unit 342 is an example of the first storage battery (second storage battery) in the present invention.
  • the power storage unit may be housed in the vehicle, and the storage position of the power storage unit is not limited to the underframe.
  • the power supply unit 343 uses the power from the fixed shelf 2 (adjacent moving shelf 3) via the power receiving unit 341 or the power stored in the power storage unit 342 to be used as the power receiving unit 341 (B) of the adjacent moving shelf 3 (3B). Supply to.
  • the power feeding unit 343 is, for example, a connector for electric power.
  • the power feeding unit 343 is arranged, for example, on the front surface of the underframe 311.
  • the power feeding unit may be arranged at the front of the frame, and the arrangement of the power feeding unit is not limited to the front surface of the underframe.
  • the power control unit 344 supplies power from the power receiving unit 341 to the power storage unit 342, supplies the power stored in the power storage unit 342 to the power supply unit 343, and communicates with the power control unit 33 of the power stored in the power storage unit 342. It controls the supply to the unit 35, the detection unit 36, and the drive unit 37.
  • the power control unit 344 is, for example, a switch circuit such as a relay circuit.
  • the power control unit 344 is the first power control unit (second power control unit) in the present invention.
  • the power control unit 344 is housed in, for example, the vehicle 31.
  • the communication unit 35 communicates with the fixed shelf 2 and the adjacent moving shelf.
  • the communication unit 35 includes a main communication unit 351 and a sub communication unit 352.
  • the communication unit 35 is housed in, for example, the vehicle 31.
  • the main communication unit 351 communicates with the communication unit 25 of the fixed shelf 2.
  • the main communication unit 351 is a wireless communication circuit capable of communicating using a wireless communication method such as ZigBee.
  • the main communication unit 351 may function as the second communication device in the present invention.
  • the sub communication unit 352 communicates with the sub communication unit 352 (B) of the adjacent mobile shelf 3 (3B).
  • the sub-communication unit 352 is a wireless communication circuit capable of communicating using a wireless communication method such as infrared rays. That is, the method of communication between the main communication unit 351 and the communication unit 25 is different from the method of communication between the sub communication unit 352 (A) and the sub communication unit 352 (B).
  • the sub-communication unit is the first communication device (second communication device) in the present invention.
  • the communication method of the sub communication unit may be the same as the communication method of the main communication unit.
  • the arrangement of the communication unit is not limited to the present embodiment. That is, for example, the communication unit may be arranged on the upper portion or the side portion of the vehicle body.
  • the detection unit 36 detects the distance between the vehicle 31 and the adjacent objects (fixed shelf 2, moving shelf 3B) adjacent to the vehicle 31 (hereinafter referred to as “shelf spacing”).
  • the detection unit 36 is, for example, an ultrasonic sensor.
  • the detection unit 36 is the first sensor (second sensor) in the present invention.
  • the detection result of the detection unit 36 is transmitted to the control unit 33.
  • the detection unit 36 is arranged at each of the front portion and the rear portion of the vehicle body 31, for example.
  • the "adjacent object” is an object that forms a passage before and after the moving shelf 3 together with the moving shelf 3. That is, for example, the adjacent object to the moving shelf 3A is a shelf (fixed shelf 2, moving shelf 3B) arranged in the front-rear direction of the moving shelf 3A. On the other hand, the adjacent objects to the moving shelf 3B are a shelf (moving shelf 3A) arranged in the front-rear direction of the moving shelf 3B and a wall W1.
  • the detection unit may measure the distance only at a predetermined measurement frequency described later, or may change the measurement frequency by the control of the control unit or the like to measure the distance.
  • the drive unit 37 moves and stops the vehicle body 31.
  • the drive unit 37 includes a drive control circuit 371 and a motor 372.
  • the drive control circuit 371 controls the operation (rotation speed, rotation direction, etc.) of the motor 372 based on the signal (power control signal) from the control unit 33.
  • the drive control circuit 371 is, for example, a control board for the motor 372.
  • the drive control circuit 371 is a first drive control unit (second drive control unit) in the present invention.
  • the drive control circuit 371 is attached to the motor 372, for example.
  • the motor 372 is driven to move the body 31 in the front-rear direction based on the control of the drive control circuit 371.
  • the motor 372 is, for example, a DC motor.
  • the motor 372 is the first motor (second motor) in the present invention.
  • the motor 372 is housed in, for example, the underframe 311.
  • the operation unit 38 is a switch operated by the user of the moving shelf device S to form a passage before and after the moving shelf 3.
  • the operation unit 38 outputs a signal corresponding to the operation of the user of the moving shelf 3 to the control unit 33.
  • the operation unit 38 is arranged, for example, on the left side plate 314a of the vehicle body 31.
  • the operation unit 38 includes a forward movement switch 381 and a backward movement switch 382 (see FIG. 1).
  • the forward movement switch 381 is a switch operated by the user when the user forms a passage behind the vehicle body 31 (moving shelf 3).
  • the forward movement switch 381 is arranged at the rear portion of the side plate 314a (see FIG. 4) at a height that is easy for the user to operate.
  • the rear movement switch 382 is a switch operated by the user when the user forms a passage in front of the vehicle body 31 (moving shelf 3). As shown in FIG. 4, the rearward movement switch 382 is arranged at a height that is the front portion of the side plate 314a and is easy for the user to operate.
  • Each moving shelf 3 manages the electric power of the power storage unit 342 based on a predetermined operation mode.
  • the operation mode includes a standby mode and a movable mode.
  • the operation mode is switched by, for example, the control unit 33.
  • the "movable mode” is an operation mode in which the moving shelf 3 can be moved.
  • the electric power from the power storage unit 342 is supplied to the detection unit 36 and the drive unit 37 (drive control circuit 371) in addition to the control unit 33, the communication unit 35, and the operation unit 38.
  • the power control unit 344 supplies the electric power stored in the power storage unit 342 to the detection unit 36 and the drive unit 37 when the operation mode is the movable mode. That is, when the operation mode is the movable mode, the communication unit 35 is in a state of being able to communicate with the moving shelf 3 adjacent to the fixed shelf 2, and the detecting unit 36 measures the distance between the moving shelf 3 and the adjacent object.
  • the drive unit 37 is in a state in which the vehicle body 31 can be immediately moved.
  • Measurement at a predetermined measurement frequency means that the detection unit 36 measures the distance between the moving shelf 3 and an adjacent object at the measurement frequency (time interval) at which the moving shelf 3 can move.
  • the measurement frequency at which the movable shelf 3 can be moved is, for example, 10 msec.
  • the detection unit 36 measures the distance at a predetermined measurement frequency.
  • the detection unit 36 measures the distance at a measurement frequency longer than 10 msec (for example, 1 min), or when the detection unit 36 does not measure the distance, the detection unit 36 performs the distance at a predetermined measurement frequency. Has not been measured.
  • the “standby mode” is an operation mode in which the moving shelf 3 cannot be moved.
  • the electric power from the power storage unit 342 is supplied to the control unit 33, the communication unit 35, and the operation unit 38. That is, when the operation mode is the standby mode, the moving shelf 3 is in a state in which communication between the fixed shelf 2 and another adjacent moving shelf 3 can be executed (that is, the main communication unit 351 and the sub communication unit 352). And is running). That is, when the operation mode is the standby mode, the communication unit 35 is in a state of being able to communicate with the moving shelf 3 adjacent to the fixed shelf 2, and the detecting unit 36 measures the distance between the moving shelf 3 and the adjacent object. The frequency cannot be measured, and the drive unit 37 cannot move the vehicle 31 immediately.
  • the electric power from the power storage unit may be supplied to the detection unit.
  • the detection unit may measure the distance at a predetermined measurement frequency, or may not measure the distance at a predetermined measurement frequency. Further, when the detection unit does not measure the distance at a predetermined measurement frequency, the electric power from the power storage unit may be supplied to the drive control circuit.
  • the electric power from the power storage unit may be supplied only to the control unit, the communication unit, and the operation unit.
  • the moving shelf is in a state where only communication between the fixed shelf 2 and another adjacent moving shelf 3 can be executed.
  • the operation mode of the moving shelf 3 is switched by the control unit 33. That is, the control unit 33 can switch the operation mode of the moving shelf 3.
  • the operation mode is usually a standby mode when the moving shelf 3 is not operated by the user.
  • the control unit 33 receives the signal that becomes the trigger, the control unit 33 switches the operation mode to the movable mode. The details of switching the operation mode and the trigger signal will be described later.
  • the moving shelves 3A and 3B Moves forward (to the left of the paper in FIG. 1), and a passage is formed between the moving shelf 3A and the fixed shelf 2.
  • the moving shelves 3A and 3B move while maintaining a predetermined interval from each other based on the detection results of the detection units 36 (A) and 36 (B) (see FIG. 5).
  • FIG. 6 is an external view showing a state in which a passage is formed between the moving shelf 3A and the fixed shelf 2.
  • the moving shelf may be moved only while the forward moving switch or the backward moving switch is operated by the user, and when the forward moving switch or the backward moving switch is once operated (one-touch) by the user. , May move until passages at predetermined intervals are formed.
  • the moving shelf device S converges each moving shelf 3 to the fixed shelf 2 and executes charging of the power storage unit 342 of each moving shelf 3 by the operation by the user or the control of the control unit 23 of the fixed shelf 2. Perform power supply operation.
  • the power feeding unit 243 of the fixed shelf 2 is connected to the power receiving unit 341 (A) of the moving shelf 3A, and the power feeding unit 343 (A) of the moving shelf 3A is connected to the power receiving unit 341 (B) of the moving shelf 3B.
  • the electric power from the commercial power source 4 or the power storage unit 242 is supplied to the power storage unit 342 (A) via the power supply unit 243 and the power reception unit 341 (A), and the power supply unit 343 (A) and the power reception unit 341 (B) It is supplied to the power storage unit 342 (B) via.
  • the electric power from the commercial power source 4 is converted into DC electric power by an AC / DC converter (not shown) and supplied to the power storage units 242, 342 (A) and 342 (B).
  • FIG. 7 is a schematic diagram illustrating communication of the mobile shelf device S.
  • the fixed shelf 2 and the moving shelf 3 are usually the communication unit 25 of the fixed shelf 2, the main communication unit 351 (A) of the moving shelf 3A, and the main communication unit 351 (B) of the moving shelf 3B. Communicate with each other by communication between them (hereinafter referred to as "main communication”).
  • the main communication includes communication between the communication unit 25 and the main communication unit 351 (A) (hereinafter referred to as “first main communication”) and communication between the communication unit 25 and the main communication unit 351 (B) (hereinafter referred to as "first main communication”).
  • first main communication communication between the communication unit 25 and the main communication unit 351 (B)
  • second main communication hereinafter referred to as "second main communication" and.
  • the communication distance of the sub communication infrared ray or the like
  • the main communication ZigBee or the like
  • the moving shelf 3A and the moving shelf 3B are the sub communication unit 352 (A) and the sub communication unit 352 (B). ) By communication (hereinafter referred to as "sub-communication").
  • Abnormality means that the main communication is interrupted, such as a failure of any of the communication unit 25, the main communication unit 351 (A), and the main communication unit 351 (B), or interference with the main communication of radio waves from a mobile phone or the like. It is a mode of communication (communication abnormality).
  • the communication mode of the mobile shelf device S differs depending on whether the main communication is functioning normally or an abnormality has occurred in the main communication.
  • FIG. 8 is a sequence diagram of communication of the mobile shelf device S when the main communication is functioning normally.
  • the operation modes of the moving shelf 3A and the moving shelf 3B are the standby modes.
  • the control unit 33 (A) detects that the operation unit 38 (A) has been operated and generates an operation detection signal. (S11A).
  • the "operation detection signal” is a signal indicating that the operation unit 38 of the moving shelf 3 has been operated.
  • the control unit 33 (A) transmits an operation detection signal to the main communication unit 351 (A). At this time, the control unit 33 (A) starts counting the time after transmitting the operation detection signal (hereinafter, referred to as “first count”).
  • the main communication unit 351 (A) transmits an operation detection signal to the communication unit 25 of the fixed shelf 2 by the first main communication (S12A).
  • the operation mode of the moving shelf may be switched from the standby mode to the movable mode.
  • the communication unit 25 that has received the operation detection signal transmits the operation detection signal to the control unit 23.
  • the control unit 23 Upon receiving the operation detection signal, the control unit 23 generates a return signal (S11) and transmits the return signal to the communication unit 25. At this time, the control unit 23 starts counting the time after transmitting the return signal (hereinafter, referred to as “second count”).
  • the "return signal” is a signal indicating that any of the moving shelves 3 has been operated by the user.
  • the return signal is a signal for switching the operation mode of the moving shelf 3 to the movable mode according to the instruction of the fixed shelf 2.
  • the return signal is an example of information generated in connection with the operation of the operation unit 38 in the present invention.
  • the communication unit 25 transmits the return signal to the main communication unit 351 (A) of the moving shelf 3A by the first main communication (S12), and sends the return signal to the main communication unit 351 of the moving shelf 3B by the second main communication. It is transmitted to (B) (S13).
  • the main communication unit 351 (A) that has received the return signal transmits the return signal to the control unit 33 (A).
  • the control unit 33 (A) detects that an abnormality has occurred in the first main communication when the first count exceeds a predetermined threshold value before receiving the return signal.
  • the control unit 33 (A) detects that the first main communication is normal when the return signal is received before the first count exceeds a predetermined threshold value (S13A).
  • the control unit 33 (A) that has received the return signal switches the operation mode of the moving shelf 3A from the standby mode to the movable mode (S14A). At this time, the control unit 33 (A) resets the first count.
  • the electric power from the power storage unit 342 (A) is supplied to the detection unit 36 (A), and the detection unit 36 (A) uses the moving shelf 3A at a predetermined measurement frequency.
  • the measurement of the distance between the fixed shelf 2 and the fixed shelf 2 and the distance between the moving shelf 3A and the moving shelf 3B is started (S15A).
  • the drive control circuit 371 (A) supplies electric power to the motor 372 (A) based on the electric power control signal from the control unit 33 (A) to control the drive of the motor 372 (A).
  • control unit 33 (A) generates a response signal indicating that the operation mode has been switched to the movable mode (S16A), and transmits the response signal to the main communication unit 351 (A).
  • the main communication unit 351 (A) transmits a response signal to the communication unit 25 of the fixed shelf 2 by the first main communication (S17A).
  • the control unit may switch the operation mode to the movable mode again (in this case, the operation mode switching by the control unit at this stage is a miss. ) Or, it is not necessary to switch the operation mode.
  • the main communication unit 351 (B) that has received the return signal transmits the return signal to the control unit 33 (B).
  • the control unit 33 (B) switches the operation mode of the moving shelf 3B from the standby mode to the movable mode (S11B).
  • the detection unit 36 (B) determines the distance between the moving shelf 3B and the moving shelf 3A and the distance between the moving shelf 3B and the wall W1 at a predetermined measurement frequency. And start measuring (S12B).
  • the drive control circuit 371 (B) supplies electric power to the motor 372 (B) based on the signal from the control unit 33 (B) to control the drive of the motor 372 (B).
  • control unit 33 (B) generates a response signal indicating that the operation mode has been switched to the movable mode (S13B), and transmits the response signal to the main communication unit 351 (B).
  • the main communication unit 351 (B) transmits a response signal to the communication unit 25 of the fixed shelf 2 by the second main communication (S14B).
  • the communication unit 25 that has received the response signal transmits the response signal to the control unit 23.
  • the control unit 23 that has received the response signal resets the second count.
  • the control unit 23 detects that an abnormality has occurred in the main communication corresponding to the second count (communication state). (S14).
  • the control unit 23 detects that the main communication corresponding to the second count is normal (communication state) (S14).
  • control unit 23 generates system information indicating that the first main communication and the second main communication are normal (S15), and transmits the system information to the communication unit 25.
  • the communication unit 25 transmits the system information to the main communication unit 351 (A) by the first main communication (S16), and transmits the system information to the main communication unit 351 (B) by the second main communication (S17). ).
  • the main communication unit 351 (A) that has received the system information transmits the system information to the control unit 33 (A).
  • the control unit 33 (A) analyzes the system information and detects that the second main communication is normal (communication state) (S18A). In this case, the control unit 33 (A) does not perform communication by the sub communication unit 352 (A).
  • the main communication unit 351 (B) that has received the system information transmits the system information to the control unit 33 (B).
  • the control unit 33 (B) analyzes the system information and detects that the first main communication is normal (communication state) (S15B). In this case, the control unit 33 (B) does not perform communication by the sub communication unit 352 (B).
  • FIG. 9 is a sequence diagram of communication of the mobile shelf device S when an abnormality has occurred in the first main communication.
  • the “x” attached to the broken line arrow indicates the main communication in which the abnormality has occurred (the first main communication in this description) (the same applies hereinafter).
  • the operation of the mobile shelf 3A (S11A-S12A) until the operation detection signal is transmitted is abnormal in the first main communication. Since it is common to the communication of the mobile shelf device S in the case where the above occurs, the description thereof will be omitted.
  • the operation detection signal from the main communication unit 351 (A) is not received by the communication unit 25. Therefore, the fixed shelf 2 cannot grasp that the operation unit 38 (A) of the moving shelf 3A has been operated, and does not transmit the return signal. Therefore, the control unit 33 (A) does not receive the return signal and continues the first count. On the other hand, the control unit 33 (B) also does not receive the return signal and maintains the operation mode of the moving shelf 3B in the standby mode.
  • the control unit 33 (A) detects that an abnormality has occurred in the first main communication when the first count exceeds a predetermined threshold value before receiving the return signal (S21A). As a result, the control unit 33 (A) switches the operation mode of the moving shelf 3A from the standby mode to the movable mode (S22A).
  • the detection unit 36 (A) determines the distance between the moving shelf 3A and the fixed shelf 2 and the distance between the moving shelf 3A and the moving shelf 3B at a predetermined measurement frequency. And start measuring (S23A).
  • the drive control circuit 371 (A) supplies electric power to the motor 372 (A) based on the signal from the control unit 33 (A) to control the drive of the motor 372 (A).
  • control unit 33 (A) generates an individual return signal (S24A) and transmits the individual return signal to the sub-communication unit 352 (A). At this time, the control unit 33 (A) resets the first count.
  • the "individual return signal” is a signal from the adjacent moving shelf 3 (moving shelf 3 in which the operation unit 38 is operated) that switches the operation mode of the moving shelf 3 to the movable mode.
  • the individual return signal is an example of information generated in connection with the operation of the operation unit 38 in the present invention.
  • the sub-communication unit 352 (A) connects to the sub-communication unit 352 (B) by communication (sub-communication) between the sub-communication unit 352 (A) and the sub-communication unit 352 (B) on the mobile shelf 3B. Transmission of the individual return signal is started (S25A).
  • the sub communication has a shorter communication distance than the main communication. Therefore, when the moving shelf 3B is farther from the moving shelf 3A than the distance that enables the sub-communication communication (hereinafter referred to as "sub-communication possible distance"), the individual return signal from the moving shelf 3A is the moving shelf 3B. Does not reach. That is, the sub-communication is not started. In this case, the moving shelf 3A periodically transmits an individual return signal while moving toward the moving shelf 3B by the operation of the user. When the distance between the moving shelf 3A and the moving shelf 3B is equal to or less than the sub-communication possible distance, the individual return signal is received by the moving shelf 3B and the sub-communication is started.
  • the "sub-communication possible distance” is a distance that enables sub-communication between the sub-communication unit 352 (A) and the sub-communication unit 352 (B). That is, for example, when the distance between the moving shelf 3A and the moving shelf 3B is farther than the sub-communication possible distance, the sub-communication is not connected (the sub-communication is impossible). On the other hand, when the same distance is within the sub-communication possible distance, the sub-communication is connected (the sub-communication is possible).
  • the sub-communicable distance is, for example, a distance shorter than the first threshold value ⁇ 1 described later and longer than the interlockable distance described later.
  • the sub-communication unit 352 (B) that has received the individual return signal transmits the individual return signal to the control unit 33 (B).
  • the control unit 33 (B) detects that an abnormality has occurred in the second main communication (S21B).
  • the control unit 33 (B) that has received the individual return signal switches the operation mode of the moving shelf 3B from the standby mode to the movable mode (S22B). At this time, the control unit 33 (B) does not transmit the response signal to the main communication unit 351.
  • the detection unit 36 (B) determines the distance between the moving shelf 3B and the moving shelf 3A and the distance between the moving shelf 3B and the wall W1 at a predetermined measurement frequency. , Is started (S23B).
  • the drive control circuit 371 (B) supplies electric power to the motor 372 (B) based on the signal from the control unit 33 (B) to control the drive of the motor 372 (B).
  • control unit may transmit a response signal to the fixed shelf via the main communication unit.
  • the fixed shelf since the fixed shelf receives the response signal from the moving shelf instead of the operation detection signal, an abnormality occurs in the main communication with any of the moving shelves 3 (in the present embodiment, the first main communication). It is possible to detect that.
  • FIG. 10 is a sequence diagram of communication of the mobile shelf device S when an abnormality has occurred in the second main communication.
  • the return signal from the communication unit 25 is not received by the main communication unit 351 (B). Therefore, the moving shelf 3B cannot grasp that the operation unit 38 (A) of the moving shelf 3A has been operated, and does not switch the operation mode or transmit the response signal. Therefore, the control unit 23 does not receive the response signal and continues the second count.
  • the control unit 23 detects that an abnormality has occurred in the second main communication when the second count corresponding to the second main communication exceeds a predetermined threshold value before receiving the response signal.
  • the control unit 23 generates system information indicating that the first main communication is normal but an abnormality has occurred in the second main communication (S31), and transmits the system information to the communication unit 25.
  • the communication unit 25 transmits the system information to the main communication unit 351 (A) by the first main communication (S32), and also transmits the system information to the main communication unit 351 (B) by the second main communication (S33). ).
  • the main communication unit 351 (A) that has received the system information transmits the system information to the control unit 33 (A).
  • the control unit 33 (A) analyzes the system information and detects that an abnormality has occurred in the second main communication (S31A). As a result, the control unit 33 (A) generates an individual return signal (S32A) and transmits the individual return signal to the sub-communication unit 352 (A). At this time, the control unit 33 (A) resets the first count.
  • control unit 33 (A) transmits an individual return signal to the sub-communication unit 352 (A).
  • the sub communication unit 352 (A) individually returns to the sub communication unit 352 (B) by communication (sub communication) between the sub communication unit 352 (A) and the sub communication unit 352 (B) of the mobile shelf 3B.
  • Signal transmission is started (S33A).
  • the sub-communication unit 352 (B) that has received the individual return signal transmits the individual return signal to the control unit 33 (B).
  • the control unit 33 (B) detects that an abnormality has occurred in the second main communication (S31B).
  • control unit 33 (B) switches the operation mode of the moving shelf 3B from the standby mode to the movable mode (S32B). At this time, the control unit 33 (B) does not transmit the response signal to the main communication unit 351.
  • the detection unit 36 (B) determines the distance between the moving shelf 3B and the moving shelf 3A and the moving shelf 3B and the wall W1 at a predetermined measurement frequency. The measurement of the distance between them is started (S33B).
  • the drive control circuit 371 (B) supplies electric power to the motor 372 (B) based on the signal from the control unit 33 (B) to control the drive of the motor 372 (B).
  • the control unit of the mobile shelf 3A may transmit a response signal to the fixed shelf via the main communication unit.
  • the fixed shelf since the fixed shelf receives the response signal from the moving shelf instead of the operation detection signal, an abnormality occurs in the main communication (first main communication in the present embodiment) with any of the moving shelves 3. You may detect that.
  • the fixed shelf 2 communicates with the moving shelf 3 by the main communication. At this time, the moving shelves 3 do not communicate with each other.
  • the fixed shelf 2 communicates with the mobile shelf 3 in which the main communication is normal by the main communication.
  • the moving shelf 3 in which the abnormality has occurred in the main communication communicates with the moving shelf 3 in which the main communication adjacent to the moving shelf 3 is normal by the sub communication.
  • the mobile shelf device S makes it possible to operate the moving shelf 3 as in the case where the main communication is normal.
  • the control unit of the moving shelf that has received the individual return signal generates a response signal to the individual return signal, and transmits the individual return signal by sub-communication. May be sent to.
  • the control unit of the moving shelf that has transmitted the individual return signal counts the time since the individual return signal is transmitted, and compares the count with a predetermined threshold value to determine the sub-communication state (normal or abnormal). Occurrence) may be detected.
  • the control unit of the moving shelf that has transmitted the individual return signal does not receive the response signal even if the count exceeds a predetermined threshold value, it detects that an abnormality has occurred in the sub-communication and sends the motor to the drive control circuit. The process of stopping the drive may be executed.
  • control unit of the moving shelf generates an operation detection signal together with the individual return signal, and transmits the individual return signal and the operation detection signal to the adjacent moving shelf by the sub-communication. You may.
  • the moving shelf that has received the operation detection signal can detect that the operation unit of the adjacent moving shelf has been operated.
  • the operation of the moving shelf 3 includes an operation of the moving shelf 3 operated by the user (independent operation) and an operation linked to the moving shelf 3 operating independently (linked operation).
  • the moving shelf 3A operates as the first moving shelf in the present invention
  • the moving shelf 3B operates as the second moving shelf in the present invention.
  • the operation modes of the moving shelf 3A and the moving shelf 3B are the standby modes.
  • FIG. 11 is a flowchart showing an example of the operation of the moving shelf 3.
  • control unit 33 detects the presence or absence of a trigger signal (S101).
  • the "trigger signal” includes, for example, a signal from the operation unit 38, a signal for which the operation mode needs to be switched, such as a return signal from the fixed shelf 2 and an individual return signal from the adjacent moving shelf 3, and a fixed shelf. Includes a signal that does not need to switch the operation mode, such as a status information acquisition signal from 2.
  • the "status information” is information indicating, for example, the state of the moving shelf 3 such as the amount of electricity stored in the power storage unit 342 and the state of the communication unit 35.
  • control unit 33 When the trigger signal is not detected (“No” in S101), the control unit 33 maintains the operation mode in the standby mode and continues to detect the presence / absence of the trigger signal.
  • the control unit 33 determines the content of the trigger signal (S102).
  • the control unit 33 executes the independent operation of the moving shelf 3A (S200).
  • the control unit 33 executes the interlocking operation of the moving shelf 3A (S300).
  • the control unit 33 maintains the standby mode and operates according to the received signal. Is executed (S400).
  • FIG. 12 is a flowchart showing an example in which the moving shelf 3 operates independently.
  • control unit 33 determines whether or not the return signal from the fixed shelf 2 is received before the above-mentioned first count exceeds a predetermined threshold value (S201).
  • the control unit 33 detects that the main communication (first main communication) is normal (S202). ), Reset the first count. Next, the control unit 33 switches the operation mode from the standby mode to the movable mode, and transmits the response signal to the fixed shelf 2 by the first main communication (S203).
  • the control unit 33 when the return signal is not received before the first count exceeds a predetermined threshold value (“No” in S201), the control unit 33 has an abnormality in the main communication (first main communication). Is detected (S204), and the first count is reset. Next, the control unit 33 switches the operation mode from the standby mode to the movable mode, and transmits an individual return signal to the adjacent moving shelf 3 by sub-communication (S205).
  • the power control unit 344 supplies power to the detection unit 36 and the drive control circuit 371.
  • the detection unit 36 starts measuring the distance between the moving shelf 3 and the adjacent object (fixed shelf 2, moving shelf 3, wall W1) (S206).
  • the detection unit 36 measures the distance at a predetermined measurement frequency.
  • control unit 33 compares the distance between the moving shelf 3 and the adjacent object with the first threshold value ⁇ 1 (S207).
  • the “first threshold value ⁇ 1” indicates the limit of the interval between the moving shelf 3 and the adjacent object that the moving shelf 3 can move at a sufficient speed (for example, the interval at which the moving shelf 3 can move at the maximum speed). It is a threshold.
  • the first threshold value ⁇ 1 is a boundary value that determines whether or not there is a sufficiently movable interval between the moving shelf 3 and the adjacent object.
  • the first threshold value ⁇ 1 is stored in advance in, for example, the storage of the control unit 33.
  • the drive control circuit 371 supplies the electric power stored in the power storage unit 342 to the motor 372.
  • the drive of the motor 372 (movement of the moving shelf 3) is started to execute the acceleration process (S208).
  • the “acceleration process” is a process in which the power control unit 344 controls the supply of electric power to the motor 372 based on the power control signal from the control unit 33 to increase the moving speed of the moving shelf 3 to the maximum speed.
  • the operation of the operation unit 38 by the user is completed (“operation end” in S209), the moving speed of the moving shelf 3 reaches the maximum speed (“speed” in S209), or the moving shelf 3 and This is executed until any of the conditions that the distance to the adjacent object is equal to or less than the first threshold value ⁇ 1 (“distance ⁇ ⁇ 1” in S209) is satisfied (“No” in S209).
  • the "power control signal” is a signal that controls the supply of power to the motor 372 of the power control unit 344.
  • the control unit 33 generates a power control signal based on the distance between the moving shelf 3 and the adjacent object.
  • the electric power control unit 344 supplies the electric power stored in the electric power storage unit 342 to the motor 372 based on the electric power control signal.
  • the “maximum speed” is the maximum speed within the speed range in which the safety margin is taken into consideration among the moving speeds of the moving shelf 3.
  • the drive control circuit 371 ends the operation of the operation unit 38 by the user (“operation end” in S211) or moves.
  • the constant velocity process is executed until any of the conditions that the distance between the shelf 3 and the adjacent object is equal to or less than the first threshold value ⁇ 1 (“distance ⁇ ⁇ 1” in S211) is satisfied (S210).
  • Constant velocity processing is a process for maintaining the moving speed of the moving shelf 3 at the maximum speed.
  • acceleration process and the constant velocity process may be performed so that the moving speed of the moving shelf is maintained at a speed slower than the maximum speed.
  • the drive control circuit 371 transfers the electric power stored in the power storage unit 342 to the motor 372.
  • the supply is controlled and the deceleration process is executed (S212).
  • the "deceleration process” is a process in which the power control unit 344 controls the supply of electric power to the motor 372 based on the signal from the control unit 33 to reduce the moving speed of the moving shelf 3.
  • control unit 33 compares the distance between the moving shelf 3 and the adjacent object with the second threshold value ⁇ 2 (S213).
  • the "second threshold value ⁇ 2" is a threshold value indicating that there is a slight (low speed) movable interval between the moving shelf 3 and the adjacent object.
  • ⁇ 2 ⁇ 1.
  • the second threshold value ⁇ 2 is stored in advance in the storage of the control unit 33, for example.
  • the control unit 33 determines the distance between the moving shelf 3 and the adjacent object and the second threshold value. Compare with ⁇ 2 (S214).
  • the drive control circuit 371 supplies electric power from the power storage unit 342 to the motor 372, and the motor 372 The drive (movement of the moving shelf 3) is started, and a speed adjusting process for adjusting the moving speed of the moving shelf 3 is executed (S215).
  • the "speed adjustment process” is a process of increasing or decreasing the moving speed of the moving shelf 3 based on the distance between the moving shelf 3 and the adjacent object while considering deceleration.
  • the moving speed of the moving shelf 3 does not reach the maximum speed.
  • the operation of the operation unit 38 by the user is completed (“Yes” in S216), or the distance between the moving shelf 3 and the adjacent object becomes the second threshold value ⁇ 2 or less (“Yes” in S216). ”), Is executed until any of the conditions is satisfied (“No” in S216).
  • the “stop process” is a process of stopping the movement of the moving shelf 3 after sufficiently decelerating the moving shelf 3 by controlling the supply of electric power to the motor 372 according to the speed of the moving shelf 3.
  • FIG. 13 is a flowchart showing an example in which the moving shelves 3 operate in conjunction with each other.
  • control unit 33 determines whether or not the trigger signal is a return signal (S301).
  • the control unit 33 detects that the main communication (first main communication) is normal (S302). Next, the control unit 33 switches the operation mode from the standby mode to the movable mode, and transmits the response signal to the fixed shelf 2 (S303).
  • the control unit 33 when the trigger signal is not a return signal (the trigger signal is an individual return signal) (“No” in S301), the control unit 33 has an abnormality in the main communication (first main communication). Detects the presence (S304). Next, the control unit 33 switches the operation mode from the standby mode to the movable mode (S305).
  • the power control unit 344 supplies power to the detection unit 36 and the drive control circuit 371.
  • the detection unit 36 starts measuring the distance between the moving shelf 3 and the adjacent object (fixed shelf 2, moving shelf 3, wall W1) (S306).
  • the detection unit 36 measures the distance at a predetermined measurement frequency.
  • the distance measured by the moving shelf 3 is the distance on the side where the adjacent moving shelf 3 approaches (hereinafter referred to as “approaching side distance") and the distance on the opposite side (hereinafter referred to as "opposite side distance"). .) And, including.
  • control unit 33 determines whether or not there is a change in the distance between the moving shelf 3 and the adjacent object (moving shelf 3) (S307). When there is no change in the same distance (“No” in S307), the control unit 33 continues the determination. When there is a variation in the same distance (“Yes” in S307), the control unit 33 determines that the variable distance is the approaching side distance and compares the approaching side distance with the third threshold value ⁇ 3 (S308).
  • the "third threshold value ⁇ 3" is a threshold value indicating that the distance (first distance) between the moving shelf 3 and the adjacent object has become the interlocking start distance.
  • the third threshold value ⁇ 3 is stored in advance in, for example, the storage of the control unit 33.
  • the "interlocking start distance” is the distance at which the moving shelf 3 starts the interlocking movement with respect to the approaching moving shelf 3. That is, the interlocking start distance is the distance at which the interlocking between the moving shelf 3 and the moving shelf 3 approaching the moving shelf 3 is started. That is, when the adjacent moving shelves 3 approach to the interlocking start distance, the moving shelves 3 start the movement interlocking with the moving shelves 3.
  • the control unit 33 When the approaching side distance is longer than the third threshold value ⁇ 3 (“No” in S308), the control unit 33 maintains the current state. When the approaching side distance is equal to or less than the third threshold value ⁇ 3 (“Yes” in S308), the control unit 33 compares the opposite side distance with the first threshold value ⁇ 1 (S309).
  • the drive control circuit 371 supplies electric power to the motor 372 to execute acceleration / constant velocity processing, and the approaching side distance becomes the interlocking start distance.
  • the motor 372 is driven so as to maintain the above state (S310).
  • the drive control unit may drive the motor so as to maintain a state in which the approaching side distance is slightly shorter than the interlocking start distance, taking into account the acceleration time of the moving shelf 3.
  • the control unit 33 compares the approaching side distance with the third threshold value ⁇ 3, and also compares the opposite side distance with the first threshold value ⁇ 1 (S311).
  • the power control unit 344 maintains the power supply to the motor 372 (adjacent). Maintaining interlocking with the moving shelf 3).
  • the drive control circuit 371 controls the power supply from the power storage unit 342 to perform deceleration processing (S312).
  • the stop process (S316) is executed.
  • the operation of the moving shelf 3 from the deceleration process to the stop process is the same as the operation of the moving shelf 3 from the deceleration process to the stop process (S212, S213, S217) in the independent operation.
  • the drive control circuit 371 controls the supply of electric power to the motor 372 and executes the stop process (S316). ).
  • the control unit 33 compares the opposite side distance with the second threshold value ⁇ 2 (S313).
  • the drive control circuit 371 executes the speed adjustment process (S314).
  • the speed adjustment process is executed until the opposite side distance becomes equal to or less than the second threshold value ⁇ 2 (“No” in S315).
  • the drive control circuit 371 When the opposite side distance is equal to or less than the second threshold value ⁇ 2 (“No” in S313), or when the opposite side distance is equal to or less than the second threshold value ⁇ 2 (“Yes” in S315), the drive control circuit 371 The stop process is executed (S316). The operation of the moving shelf 3 from the speed adjustment process to the stop process is the same as the operation of the moving shelf 3 from the speed adjustment process to the stop process (S215-S217) in the independent operation.
  • the moving shelf may receive an operation detection signal together with an individual return signal from the adjacent moving shelf to detect that the adjacent moving shelf has received an operation for approaching itself (moving shelf).
  • the moving shelf when the distance between the moving shelf and the operated moving shelf is equal to or less than the second threshold value and the distance on the opposite side thereof is longer than the second threshold value (the moving shelf is on the opposite side).
  • the movement may be started before the operated moving shelf.
  • the moving shelf may execute a part of the interlocking operation (for example, processing (S309-S316)) with the interval between the moving shelf and the operated moving shelf as the approaching side interval.
  • FIG. 14 is a sequence diagram showing a part of the processing of the operation of the mobile shelf device when an abnormality has occurred in the main communication.
  • the control unit 33 (A) When the operation of the forward movement switch 381 (A) of the moving shelf 3A is started by the user, the control unit 33 (A) generates an operation detection signal (S401A).
  • the sub-communication unit 352 (A) transmits an operation detection signal to the fixed shelf 2 by the first main communication (S402A). At this time, the control unit 33 (A) starts the first count.
  • the control unit 23 that has received the operation detection signal generates a return signal (S401).
  • the communication unit 25 transmits the return signal to the moving shelf 3A by the first main communication (S402), and transmits the return signal to the moving shelf 3B by the second main communication (S403). At this time, the control unit 23 starts the second count.
  • control unit 33 (A) that has received the return signal detects that the first main communication is normal (S403A) and resets the first count. At this time, the control unit 33 (A) switches the operation mode of the moving shelf 3A from the standby mode to the movable mode (S404A).
  • the power control unit 344 (A) uses the power stored in the power storage unit 342 (A) with the detection unit 36 (A) and the drive control circuit 371 (A). Supply to.
  • the detection unit 36 (A) determines the distance between the moving shelf 3A and the moving shelf 3B (hereinafter referred to as “first distance”) and the moving shelf 3A and the fixed shelf 2 at a predetermined measurement frequency. The measurement of the distance between them (hereinafter referred to as “second distance”) is started (S405A).
  • control unit 33 (A) transmits a power control signal to the power control unit 344 (A) based on the measurement result (first distance) of the detection unit 36 (A).
  • the electric power control unit 344 (A) supplies the electric power stored in the power storage unit 342 (A) to the motor 372 (A) based on the electric power control signal from the control unit 33 (A), and the motor 372 (A) Start driving.
  • the moving shelf 3A starts moving toward the moving shelf 3B (S406A).
  • control unit 33 (A) generates a response signal (S407A).
  • the sub-communication unit 352 (A) transmits a response signal to the fixed shelf 2 by the first main communication (S408A).
  • the control unit 33 (B) of the moving shelf 3B since an abnormality has occurred in the second main communication, as described above, the control unit 33 (B) of the moving shelf 3B does not receive the return signal and does not transmit the response signal. That is, the moving shelf 3B maintains the standby mode.
  • control unit 23 which has received only the response signal from the mobile shelf 3A, detects that the first main communication is normal and that an abnormality has occurred in the second main communication (S404). At this time, the control unit 23 resets the second count.
  • control unit 23 generates system information indicating that the first main communication is normal and that an abnormality has occurred in the second main communication (S405).
  • the communication unit 25 transmits the system information to the mobile shelf 3A by the first main communication (S406), and transmits the system information to the mobile shelf 3B by the second main communication (S407).
  • FIG. 15 is a sequence diagram showing another part of the processing of the operation of the mobile shelf device when an abnormality has occurred in the main communication.
  • control unit 33 (A) which has received the system information, analyzes the system information and detects that an abnormality has occurred in the second main communication (S409A). At this time, the control unit 33 (A) generates an individual return signal (S410A). The sub-communication unit 352 (A) starts transmitting the individual return signal by the sub-communication (S411A).
  • the moving shelf 3A moves toward the moving shelf 3B, and the moving shelf 3B maintains the standby mode until the first distance reaches the subcommunication possible distance.
  • the control unit 33 (B) receives the individual return signal.
  • the control unit 33 (B) that has received the individual return signal detects that an abnormality has occurred in the second main communication (S401B).
  • the control unit 33 (B) switches the operation mode of the moving shelf 3B from the standby mode to the movable mode (S402B). In other words, the control unit 33 (B) switches the operation mode of the moving shelf 3B from the standby mode to the movable mode based on the first distance measured by the detection unit 36 (A).
  • the power control unit 344 (B) uses the power stored in the power storage unit 342 (B) with the detection unit 36 (B) and the drive control circuit 371 (B). Supply to.
  • the detection unit 36 (B) has a predetermined measurement frequency of the distance between the moving shelf 3B and the moving shelf 3A (first distance) and the distance between the moving shelf 3B and the wall W1 (hereinafter, "" The measurement of "third distance") is started (S403B).
  • the control unit 33 (B) sends a power control signal to the power control unit based on the first distance. It is transmitted to 344 (B).
  • the electric power control unit 344 (B) supplies the electric power stored in the power storage unit 342 (B) to the motor 372 (B) based on the electric power control signal.
  • the moving rack 3A starts moving toward the wall W1 (S404B).
  • the power control unit 344 maintains a state in which the first distance is the interlocking start distance based on the power control signal from the control unit 33 (B) (that is, based on the first distance).
  • the electric power stored in the power storage unit 342 (B) is supplied to the motor 372 (B).
  • the moving shelf 3A operates independently, and the moving shelf 3B operates in conjunction with the moving shelf 3A.
  • the forward movement switch 381 (A) transmits a signal indicating that its own operation has been stopped to the control unit 33 (A). ..
  • the control unit 33 (A) which has received the signal from the forward movement switch 381 (A), executes the stop process (S412A). That is, the control unit 33 (A) transmits a power control signal for executing the stop process to the power control unit 344 (A).
  • the electric power control unit 344 (A) controls the supply of the electric power stored in the power storage unit 342 (A) to the motor 372 (A) based on the electric power control signal, and decelerates the motor 372 (A). , The drive of the motor 372 (A) is stopped. As a result, the movement of the moving shelf 3A is stopped (S413A).
  • control unit 33 (A) switches the operation mode of the moving shelf 3A from the movable mode to the standby mode (S414A). In other words, the control unit 33 (A) switches the operation mode of the moving shelf 3A from the movable mode to the standby mode when the operation of the operation unit 38 (A) by the user is stopped.
  • the moving shelf 3B ends the interlocking operation and executes the stop process (S405B). That is, the control unit 33 (B) transmits a power control signal for executing the stop process to the power control unit 344 (B).
  • the electric power control unit 344 (B) controls the supply of the electric power stored in the power storage unit 342 (B) to the motor 372 (B) based on the electric power control signal, and decelerates the motor 372 (B). , The drive of the motor 372 (B) is stopped. As a result, the movement of the moving shelf 3B is stopped (S406B).
  • the control unit 33 (B) switches the operation mode of the moving shelf 3B from the movable mode to the standby mode (S407B). That is, the control unit 33 (B) switches the operation mode of the moving shelf 3B from the movable mode to the standby mode based on the first distance. In other words, when the operation of the operation unit 38 (A) by the user is stopped, the control unit 33 (B) switches the operation mode of the moving shelf 3B from the movable mode to the standby mode.
  • the moving shelf (3A) may communicate with the moving shelf (3B) that operates in conjunction with the moving shelf (3A) by sub-communication.
  • the moving shelves in the interlocking operation may end the interlocking operation based on the same communication.
  • the moving shelf 3 communicates with the adjacent moving shelf 3 by the sub communication when an abnormality occurs in the main communication. As a result, even when an abnormality occurs in the main communication in the moving shelf device S, each moving shelf 3 can operate as in the case where the main communication is normal.
  • each moving shelf 3 when the operation mode of each moving shelf 3 is the standby mode and the operation of the operation unit 38 of any of the moving shelves 3 is started, the control unit 33 of each moving shelf 3 , Switch the operation mode from standby mode to movable mode. On the other hand, when the operation of the operation unit 38 is completed, the control unit 33 of each moving shelf 3 switches the operation mode from the movable mode to the standby mode. That is, in the moving shelf device S, each moving shelf 3 supplies electric power to the detection unit 36 and the power control unit 344 only while the operation unit 38 is being operated (while the operation mode is the movable mode).
  • the detection unit 36 of each moving shelf 3 can measure the distance between the moving shelf 3 and the adjacent object only while the operating unit 38 is being operated, and the moving shelf 3 can measure the distance between the moving shelf 3 and the adjacent object.
  • the motor 372 can be driven. As a result, the power saving performance of the mobile shelf device S is improved as compared with the case where power is supplied to the sensor and the motor regardless of whether or not the operation unit 38 is operated.
  • the control unit 33 (A) when the operation of the operation unit 38 (A) is started when an abnormality has occurred in the main communication (second main communication), the control unit 33 (A) will move. , The operation mode of the moving shelf 3A is switched from the standby mode to the movable mode. On the other hand, the control unit 33 (B) switches the operation mode of the moving shelf 3B from the standby mode to the movable mode based on the first distance. That is, the moving shelf 3 supplies electric power to the detection unit 36 and the power control unit 344 when the operation unit 38 of any of the moving shelves 3 is operated.
  • the detection unit 36 of each moving shelf 3 is between the moving shelf 3 and the adjacent object only while the operation unit 38 is being operated. The distance can be measured, and the motor 372 of each moving shelf 3 can be driven. Therefore, the power saving performance of the mobile shelf device S is improved.
  • the control unit 33 (B) switches the operation mode of the moving shelf 3B from the standby mode to the movable mode. That is, in the moving shelf device S, when an abnormality occurs in the main communication, the control unit 33 (B) of the moving shelf 3 in which the abnormality occurs in the main communication detects the moving shelf 3A in which the main communication is normal. Based on the result of the measurement (first distance) by the unit 36 (A), the operation mode of the moving shelf 3B is switched from the standby mode to the movable mode.
  • control unit 33 (B) switches the operation mode of the moving shelf 3B from the movable mode to the standby mode based on the measurement result (first distance) by the detection unit 36 (B).
  • the operation mode of the moving shelf 3 is switched to the movable mode only while the operation unit 38 is being operated, regardless of whether or not there is an abnormality in the main communication. As a result, the power saving performance of the mobile shelf device S is improved.
  • each moving shelf 3 after the operation mode is switched to the movable mode can operate independently or interlock without communicating with the fixed shelf 2 or another moving shelf 3. Is.
  • the operational stability of the moving shelf device S is improved.
  • the consumption of electric power related to communication is suppressed, and the power saving performance of the mobile shelf device S is improved.
  • the detection unit 36 when the measurement frequency of the detection unit 36 can be changed, the detection unit 36 measures the distance at a predetermined measurement frequency only in the movable mode. Therefore, the mobile shelf device S can operate stably while minimizing the power consumption of the detection unit 36 in the standby mode. That is, in the moving shelf 3, the power consumption related to the detection unit 36 is suppressed, and the power saving performance of the moving shelf device S is improved.
  • the communication method between the fixed shelf 2 and the moving shelf 3A is the same as the communication method between the fixed shelf 2 and the moving shelf 3B.
  • the method of communication between the fixed shelf and the moving shelf 3A may be different from the method of communication between the fixed shelf and the moving shelf 3B.
  • each moving shelf in the present invention may be provided with an object detection sensor that detects the presence or absence of an object (for example, an obstacle such as a person or an object) in an area formed between the moving shelf and the adjacent moving shelf.
  • the object detection sensor is, for example, an infrared sensor or an ultrasonic sensor.
  • the drive control circuit may control the drive of the motor based on the detection result of the object detection sensor. That is, for example, in the independent operation or the interlocking operation of the moving shelf, the drive control circuit may stop the drive of the motor based on the signal from the control unit when the object detection sensor detects the object.
  • the sub-communication unit may start communication with the sub-communication unit of the adjacent mobile shelf only when the object detection sensor does not detect the object. According to such a configuration, since the moving shelf device supplies power to the motor and the sub-communication unit only when there is no object between the moving shelves, the power saving performance of the moving shelf device is improved.
  • the power control unit may supply power to the object detection sensor only when the operation mode of the moving shelf is the movable mode. In this case, the power saving performance of the mobile shelf device is further improved.
  • the object detection sensor may function as a sensor for measuring the distance between the moving shelf and an adjacent object.
  • the first moving shelf for example, moving shelf 3 (3A) and A second moving shelf (for example, moving shelf 3 (3B)) arranged adjacent to the first moving shelf, and Have
  • the first moving shelf is An operation unit (for example, a forward movement switch 381 (A)) operated to move the first moving shelf in a direction toward the second moving shelf, and A first control unit (for example, control unit 33 (A)) for switching the operation mode of the first moving shelf, and With
  • the second moving shelf is A second control unit (for example, control unit 33 (A)) that switches the operation mode of the second moving shelf,
  • the operation mode of the first moving shelf is A movable mode in which the first moving shelf can be moved, and In the standby mode in which the first moving shelf cannot be moved, Including
  • the operation mode of the second moving shelf is A movable mode in which the second moving shelf can be moved, and In a standby mode in which the second moving shelf cannot be moved, Including When the operation mode of each of the first moving shelf and the second moving shelf is the standby mode
  • the first moving shelf is A first sensor (for example, detection unit 36 (A)) that measures the distance between the first moving shelf and the second moving shelf, With The second moving shelf is A second sensor that measures the distance (for example, detection unit 36 (B)), To prepare The mobile shelf device according to feature 1.
  • the first moving shelf is A first motor (for example, motor 372 (A)) driven to move the first moving shelf, and A first drive control unit (for example, drive control circuit 371 (A)) that controls the drive of the first motor, and With
  • the second moving shelf is A second motor (for example, motor 372 (B)) driven to move the second moving shelf, and A second drive control unit (for example, drive control circuit 371 (B)) that controls the drive of the second motor, and With
  • the first drive control unit controls the drive of the first motor based on the distance measured by the first sensor.
  • the second drive control unit controls the drive of the second motor based on the distance measured by the second sensor.
  • the mobile shelf device according to feature 2.
  • the second drive control unit When the distance measured by the second sensor is equal to or less than the distance at which the second moving shelf and the first moving shelf are started (for example, the interlocking start distance), the second drive control unit is used. , Start driving the second motor, The mobile shelf device according to feature 3.
  • the first moving shelf is A first storage battery (for example, a power storage unit 342 (A)) that stores electric power supplied to the first sensor, and A first power control unit (for example, power control unit 344 (A)) that controls the supply of the electric power stored in the first storage battery to the first sensor, and With
  • the second moving shelf is A second storage battery (for example, a power storage unit 342 (B)) that stores electric power supplied to the second sensor, and A second power control unit (for example, power control unit 344 (B)) that controls the supply of the electric power stored in the second storage battery to the second sensor, and With
  • the first power control unit supplies the power stored in the first storage battery to the first sensor only when the first moving shelf is in the movable mode.
  • the second power control unit supplies the power stored in the second storage battery to the second sensor only when the second moving shelf is in the movable mode.
  • the mobile shelf device according to feature 2.
  • the second moving shelf is A second sensor that measures the distance between the first moving shelf and the second moving shelf, With The second control unit switches the operation mode of the second moving shelf to the standby mode based on the distance measured by the second sensor.
  • the mobile shelf device according to feature 1 or 9.
  • the second moving shelf is A second communication device (for example, main communication unit 351 (B) or sub communication unit 352 (B)) that receives information (for example, a return signal or an individual return signal) generated in connection with the operation of the operation unit. )), With When the second communication device receives the information, the second control unit switches the operation mode of the second moving shelf to the movable mode.
  • the mobile shelf device according to feature 1.
  • the first moving shelf is A first communication device that communicates with the second communication device (for example, sub-communication unit 352 (A)), With Communication (sub-communication) between the first communication device and the second communication device (for example, sub-communication unit 352 (B)) is started based on the operation of the operation unit.
  • the mobile shelf device according to feature 11.
  • the second control unit switches the operation mode of the second moving shelf to the movable mode based on the distance measured by the first sensor.
  • the mobile shelf device according to feature 2.
  • the first moving shelf is A first communication device (for example, sub-communication unit 352 (A)) that communicates with the second mobile shelf, With
  • the second moving shelf is A second communication device (for example, sub-communication unit 352 (B)) that communicates with the first mobile shelf, With
  • the distance measured by the first sensor when the first moving shelf moves is the distance that enables the communication (secondary communication). For example, when it becomes less than the sub-communication possible distance), it is started and When the communication is started, the second control unit switches the operation mode of the second moving shelf to the movable mode.
  • the mobile shelf device according to feature 13.
  • the first moving shelf is An object detection sensor that detects the presence or absence of an object in the area formed between the first moving shelf and the second moving shelf.
  • the first drive control unit controls the drive of the first motor based on the detection result of the object detection sensor.
  • the mobile shelf device according to feature 3.
  • Moving shelf device 3 Moving shelf (1st moving shelf, 2nd moving shelf) 33 Control unit (1st control unit, 2nd control unit) 34 Electric power unit 342 Power storage unit (first storage battery, second storage battery) 344 Power control unit (1st power control unit, 2nd power control unit) 35 Communication unit 351 Main communication unit (second communication device) 352 Sub-communication unit (first communication device, second communication device) 36 Detector (1st sensor, 2nd sensor) 37 Drive unit 371 Drive control circuit (first drive control unit, second drive control unit) 372 motors (first motor, second motor) 38 Operation unit 381 Forward movement switch (operation unit)

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PCT/JP2020/009332 2019-03-15 2020-03-05 移動棚装置 Ceased WO2020189297A1 (ja)

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JP7744675B2 (ja) * 2021-11-15 2025-09-26 金剛株式会社 移動棚の操作ユニットと移動棚と移動棚装置

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002204722A (ja) * 2001-01-11 2002-07-23 Murata Mach Ltd 移動棚システム
JP2013112455A (ja) * 2011-11-28 2013-06-10 Kongo Co Ltd 電動式移動棚
JP2018089359A (ja) * 2016-11-29 2018-06-14 株式会社Ｓｐａｃｅ２０２０ 移動棚と移動棚装置

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002204722A (ja) * 2001-01-11 2002-07-23 Murata Mach Ltd 移動棚システム
JP2013112455A (ja) * 2011-11-28 2013-06-10 Kongo Co Ltd 電動式移動棚
JP2018089359A (ja) * 2016-11-29 2018-06-14 株式会社Ｓｐａｃｅ２０２０ 移動棚と移動棚装置

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