Mobile shelf unit and control method for mobile shelves

Abstract

A mobile shelf unit that detects obstacles in the passage formed between two shelves, including a movable shelf, enables obstacle detection without having to adjust the detection range in response to changes in the width of the passage. [Solution] When the mobile shelf 11 is stopped, an obstacle is detected using the aisle obstacle detection sensor 3. When the mobile shelf 11 is moving, an obstacle is detected using the obstacle passage detection sensor 4 without using the aisle obstacle detection sensor 3.

Description

Technical Field

[0001] The present invention relates to a mobile shelf unit and a method for controlling a mobile shelf.

Background Art

[0002] For example, Patent Document 1 discloses a mobile shelf device including a mobile shelf. The mobile shelf device disclosed in Patent Document 1 can form an aisle between the mobile shelf and another shelf by moving the mobile shelf. Further, the mobile shelf device disclosed in Patent Document 1 includes an obstacle sensor that detects obstacles in the aisle.

Prior Art Documents

Patent Documents

[0003] [[ID=2l]]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] When the mobile shelf is moved, the width of the aisle formed between the mobile shelf and others changes. In Patent Document 1, the obstacle sensor has a detection range within a certain range of a plane. When the width of the aisle changes and a mobile shelf or the like enters the detection range of the obstacle sensor, the mobile shelf or the like may be determined as an obstacle. For this reason, in Patent Document 1, the detection range of the obstacle sensor is changed during the movement of the mobile shelf to prevent a mobile shelf or the like from entering the detection range of the obstacle. However, in Patent Document 1, it is necessary to continuously adjust the detection range of the obstacle sensor during movement to detect an obstacle, and the control becomes complicated. [[ID=३7]]

[0005] The present invention has been made in view of the above problems, and an object thereof is to enable detection of an obstacle without adjusting the detection range of the obstacle according to a change in the width of an aisle by a mobile shelf unit that detects an obstacle in an aisle formed between two shelves including the mobile shelf. [[ID=4o]]

Means for Solving the Problems

[0006] The present invention employs the following configuration as a means to solve the above problems.

[0007] A first aspect of the present invention is a mobile shelf unit comprising: a plurality of shelves arranged facing each other, at least one of which is a mobile shelf movable in the direction of arrangement; an in-passage obstacle detection sensor capable of detecting in-plane obstacles in a passage formed between the mobile shelves and other shelves; an obstacle passage detection sensor capable of detecting obstacles passing through a detection line along the outer edge of the passage; and a control unit connected to the in-passage obstacle detection sensor and the obstacle passage detection sensor, which controls the movement of the mobile shelves, wherein the control unit detects obstacles using the in-passage obstacle detection sensor when the mobile shelves are stopped, and detects obstacles using the obstacle passage detection sensor without using the in-passage obstacle detection sensor when the mobile shelves are moving.

[0008] A second aspect of the present invention is a method for controlling a movable shelf, wherein the movable shelf is included as at least one of a plurality of shelves arranged facing each other and is movable in the direction of the arrangement of the shelves, and is provided with an in-passage obstacle detection sensor capable of detecting in-plane obstacles in a passage formed between two of the shelves including the movable shelf, and an obstacle passage detection sensor capable of detecting obstacles passing through a detection line along the outer edge of the passage, wherein the obstacle is detected using the in-passage obstacle detection sensor when the movable shelf is stopped, and the obstacle is detected using the obstacle passage detection sensor without using the in-passage obstacle detection sensor when the movable shelf is moving. [Effects of the Invention]

[0009] According to the present invention, when a mobile shelf is in motion, obstacles are detected using an obstacle passage detection sensor capable of detecting obstacles passing through a detection line, rather than using an in-passage obstacle detection sensor capable of detecting obstacles within a plane. Therefore, according to the present invention, it is not necessary to adjust the detection range of the in-passage obstacle detection sensor according to changes in the width of the passage. Accordingly, according to the present invention, a mobile shelf unit that detects obstacles in a passage formed between two shelves, including a mobile shelf, can detect obstacles without adjusting the obstacle detection range according to changes in the width of the passage. [Brief explanation of the drawing]

[0010] [Figure 1] This is a schematic plan view showing the general configuration of a mobile shelf unit in one embodiment of the present invention. [Figure 2] This is a schematic front view showing the general configuration of a mobile shelf unit in one embodiment of the present invention. [Figure 3] This is a schematic plan view of the open passage of a mobile shelving unit in one embodiment of the present invention. [Figure 4] This is a block diagram showing the electrical connection relationships of a mobile shelf unit in one embodiment of the present invention. [Figure 5] This is a flowchart illustrating the operation of a mobile shelving unit in one embodiment of the present invention. [Modes for carrying out the invention]

[0011] Hereinafter, an embodiment of the mobile shelf unit and mobile shelf control method according to the present invention will be described with reference to the drawings.

[0012] Figure 1 is a schematic plan view showing the general configuration of the mobile shelving unit 1 of this embodiment. Figure 2 is a schematic front view showing the general configuration of the mobile shelving unit 1 of this embodiment. The mobile shelving unit 1 of this embodiment is a shelving device capable of storing goods X, and is installed in a warehouse or the like. For example, goods X are stored on pallets, and the pallets are loaded into and out of the mobile shelving unit 1. The goods X are loaded into and out of the mobile shelving unit 1 by, for example, a manned forklift operated by a worker, or an unmanned forklift that does not require operation by a worker.

[0013] As shown in Figures 1 and 2, the mobile shelf unit 1 of this embodiment comprises a plurality of shelves 2, an obstacle detection sensor 3 in the aisle, an obstacle passage detection sensor 4, and a control unit 5. The plurality of shelves 2 include fixed shelves 10 and mobile shelves 11. The mobile shelf unit 1 also includes an aisle entry detection sensor 20 and a frame safety sensor 21 (item entry / exit surface sensor) as the obstacle passage detection sensor 4.

[0014] The multiple shelves 2 are arranged along a single horizontal direction. In the following description, the direction in which the multiple shelves 2 are arranged will simply be referred to as the arrangement direction. The horizontal direction perpendicular to the arrangement direction will be referred to as the aisle extension direction.

[0015] Each shelf 2 is formed in a rectangular shape with the direction of passage extension as the longitudinal direction in a plan view. These shelves 2 are arranged to face each other in the short direction (i.e., the arrangement direction) in a plan view. In other words, these shelves 2 are arranged facing each other in the arrangement direction. As shown in Figures 1 and 2, each shelf 2 comprises a base frame 2a, a plurality of support columns 2b, and a plurality of shelf boards 2c.

[0016] The base frame 2a forms the floor portion of the shelf 2 and directly or indirectly supports the support columns 2b and the shelf board 2c. The base frame 2a is formed in a rectangular shape with the passage extending direction as the longitudinal direction in plan view. The support columns 2b extend in the vertical direction, and a plurality of them are erected on one base frame 2a. The support columns 2b are arranged at positions where they do not interfere with the article X that is put in and taken out of the shelf 2. The shelf board 2c is a plate-like part on which the article X is placed and is supported by the support columns 2b. A plurality of them are provided at a plurality of positions in the height direction for one shelf 2.

[0017] For each shelf 2, the article X is put in and taken out from the surface facing the other shelf 2. This surface is referred to as the article input / output surface 2d. That is, for each shelf 2, the article X is carried onto the shelf board 2c from the outside of the shelf 2 through the article input / output surface 2d. Also, for each shelf 2, the article X on the shelf board 2c is carried out to the outside of the shelf 2 through the article input / output surface 2d.

[0018] Two of the plurality of shelves 2 located at the ends in the arrangement direction are fixed shelves 10. Also, the shelves 2 located between the two fixed shelves 10 are movable shelves 11. The number of the movable shelves 11 is not particularly limited. It is sufficient that at least one of the plurality of shelves 2 is a movable shelf 11. Also, it may be that there is no fixed shelf 10 and all the shelves 2 are movable shelves 11.

[0019] The fixed shelf 10 is a shelf 2 that is not moved. The base frame 2a of the fixed shelf 10 is fixed to the floor surface. The fixed shelf 10 has only one side surface in the arrangement direction facing the movable shelf 11. The surface of the fixed shelf 10 facing the movable shelf 11 is the article input / output surface 2d of the fixed shelf 10. That is, the fixed shelf 10 has only one side surface in the arrangement direction as the article input / output surface 2d.

[0020] The movable shelf 11 is a shelf 2 that can move in the arrangement direction. For example, the base frame 2a of the movable shelf 11 has wheels (not shown) that can roll on the floor surface. Note that rails for guiding the movement of the movable shelf 11 may be installed on the floor surface or the ceiling. Also, as shown in FIGS. 1 and 2, the movable shelf 11 includes a drive motor 2e that generates power for movement. The drive motor 2e is connected to a power source (not shown) and generates power based on the control of the control unit 5. When the power generated by the drive motor 2e is transmitted to the wheels, the movable shelf 11 can move in the arrangement direction. Thus, each movable shelf 11 is moved in the arrangement direction by the control of the control unit 5.

[0021] Both side surfaces of the movable shelf 11 in the arrangement direction face other shelves 2. The dimension of the movable shelf 11 in the arrangement direction is approximately twice as large as the dimension of the fixed shelf 10 in the arrangement direction. The surface of the movable shelf 11 that faces other shelves 2 is the article input / output surface 2d of the movable shelf 11. That is, the movable shelf 11 is provided with article input / output surfaces 2d on both sides in the arrangement direction, and articles X can be taken in and out from both sides in the arrangement direction.

[0022] By the relative movement of the movable shelf 11 away from the shelves 2 facing it in the arrangement direction, as shown in FIG. 1, a passage R through which an operator or a forklift can enter can be formed between the movable shelf 11 and the adjacent shelf 2. Also, by the relative movement of the movable shelf 11 away from the shelves 2 facing it in the arrangement direction, the width dimension of the passage R in the arrangement direction can be reduced.

[0023] For the sake of explanation, a passage R with a width sufficient for workers and forklifts to enter will be referred to as an open passage R1. Also, for the sake of explanation, a passage R in which a movable shelf 11 is closest to an opposing shelf 2 in the arrangement direction will be referred to as a closed passage R2. In other words, when loading or unloading items X to or from a shelf 2, the shelf 2 having the item loading / unloading surface 2d and the shelf 2 opposite to it are moved in the arrangement direction so that they are relatively far apart. This creates an open passage R1 that allows access to the item loading / unloading surface 2d. On the other hand, shelves 2 that do not need to be loaded or unloaded with items X are moved as needed so that the passage R between them becomes a closed passage R2.

[0024] Figure 3 is a schematic plan view of the open passage R1. As shown in Figure 3, the open passage R1 is rectangular in shape. The short direction of the open passage R1 is parallel to the alignment direction, and the long direction of the open passage R1 is parallel to the passage extension direction. In other words, a passage R that forms such an open passage R1 has a rectangular outer edge G. The outer edge G includes two short edges G1 parallel to the alignment direction and two long edges G2 parallel to the passage extension direction.

[0025] The short edge G1 is the part through which workers and forklifts pass when entering or exiting the aisle R. In other words, the short edge G1 is the entrance and exit to the aisle R. The long edge G2 is positioned opposite the item entry / exit surface 2d and is the part through which items X pass when items X are moved in and out of the shelf 2's item entry / exit surface 2d from the aisle R. When the width dimension of the aisle R changes, the length dimension of the short edge G1 changes, but the length dimension of the long edge G2 does not change.

[0026] The aisle obstacle detection sensor 3 is a sensor capable of detecting obstacles within the plane of the aisle R. The detection range of the aisle obstacle detection sensor 3 is set to the same range as the plane of the open aisle R1. In other words, the aisle obstacle detection sensor 3 can detect obstacles within the plane of the open aisle R1. At least one aisle obstacle detection sensor 3 is provided for each aisle R. The installation position of the aisle obstacle detection sensor 3 is not particularly limited, but for example, as shown in Figure 1, it is fixed to the base frame 2a of the shelf 2. A gap may be provided between the base frame 2a and the floor, and the aisle obstacle detection sensor 3 may be fixed to the base frame 2a so as to be positioned in this gap.

[0027] The obstacle passage detection sensor 4 is a sensor capable of detecting obstacles passing through a detection line along the outer edge G of the passage R. In this embodiment, as described above, the obstacle passage detection sensor 4 is provided with a passage entry detection sensor 20 and a frame safety sensor 21.

[0028] The passage entry detection sensor 20 can detect obstacles passing through a detection line (referred to as the entrance / exit detection line L1) along the short edge G1. The entrance / exit detection line L1 is located, for example, on the same side as the short edge G1 or slightly outside the short edge G1 when viewed from above. Such a passage entry detection sensor 20 can detect obstacles passing through the entrance / exit of the passage R. In this embodiment, passage entry detection sensors 20 are installed at each of the ends of the passage R in the direction of passage extension.

[0029] The installation location of the aisle entry detection sensor 20 is not particularly limited, but for example, it is fixed to the support column 2b of the shelf 2. The aisle entry detection sensor 20 is, for example, an optical sensor comprising a light-emitting unit and a light-receiving unit. The light-emitting unit is provided on one of the two shelves 2 that sandwich the aisle R in the direction of arrangement, and the light-receiving unit is provided on the other. In other words, in this embodiment, at least a part of the aisle entry detection sensor 20 is fixed to the movable shelf 11. The aisle entry detection sensor 20 is also fixed to the end of the shelf 2 in the direction of aisle extension.

[0030] The aisle entry detection sensor 20 is a sensor used to detect obstacles when moving the mobile shelf 11, such as workers or forklifts. For this reason, it is preferable that the height position of the aisle entry detection sensor 20 is such that it always obstructs the entrance / exit detection line L1 when workers or forklifts enter or exit the aisle R. For example, it is preferable that the aisle entry detection sensor 20 be positioned at a height approximately the same as the waist of a worker of average build. In addition, multiple aisle entry detection sensors 20 may be provided in the height direction for each short edge G1.

[0031] The frame safety sensor 21 can detect obstacles passing through a detection line (referred to as the frame detection line L2) along the long edge G2. The frame safety sensor 21 is positioned, for example, to overlap with the long edge G2 or slightly outside the long edge G2 when viewed from above. Since the long edge G2 is along the item entry / exit surface 2d, the frame detection line L2 is also along the item entry / exit surface 2d. In other words, the frame safety sensor 21 can detect obstacles passing through a detection line along the item entry / exit surface 2d. In this embodiment, frame safety sensors 21 are installed at each of the two ends in the arrangement direction of the passage R.

[0032] The installation location of the frame safety sensor 21 is not particularly limited, but for example, it is fixed to the frame 2a of each shelf 2. In other words, the frame safety sensor 21 is also fixed to the frame 2a of the movable shelf 11. The frame safety sensor 21 is, for example, an optical sensor comprising a light-emitting unit and a light-receiving unit. The light-emitting unit is provided at one end of the frame 2a in the direction of passage extension, and the light-receiving unit is provided at the other end.

[0033] The frame safety sensor 21 is a sensor for detecting, for example, an item X that has fallen into the aisle R as an obstacle when moving the mobile shelf 11. For this reason, it is preferable that the height position of the frame safety sensor 21 is such that it always obstructs the frame detection line L2 when the mobile shelf 11 moves. For example, it is preferable that the frame safety sensor 21 be placed as close to the floor as possible. In addition, multiple frame safety sensors 21 may be provided in the height direction for one long edge G2.

[0034] In this embodiment, the frame safety sensor 21 is positioned lower than the aisle entry detection sensor 20. In other words, in this embodiment, the frame safety sensor 21 and the aisle entry detection sensor 20 are positioned such that the frame safety sensor 21 is relatively lower and the aisle entry detection sensor 20 is relatively higher.

[0035] Figure 4 is a block diagram showing the electrical connection relationships of the mobile shelf unit 1 in this embodiment. As shown in this figure, the control unit 5 is connected to the aisle obstacle detection sensor 3, the obstacle passage detection sensor 4 (aisle entry detection sensor 20, frame safety sensor 21), and the drive motor 2e. The control unit 5 controls the movement of the mobile shelf 11 by controlling the drive motor 2e.

[0036] Furthermore, the control unit 5 detects obstacles using the aisle obstacle detection sensor 3 while the mobile shelf 11 is stopped. In other words, the control unit 5 detects obstacles within the plane of the aisle R while the mobile shelf 11 is stopped. Note that "detecting obstacles using the aisle obstacle detection sensor 3 while the mobile shelf 11 is stopped" does not mean detecting obstacles for the entire duration that the mobile shelf 11 is stopped. For example, during periods when workers or forklifts are entering the aisle R and performing work, the control unit 5 does not detect obstacles using the aisle obstacle detection sensor 3. In other words, the control unit 5 detects obstacles using the aisle obstacle detection sensor 3 during periods when the mobile shelf 11 is stopped, in the period when obstacle detection is required (the preparation period for the movement of the mobile shelf 11 and the period during movement).

[0037] On the other hand, when the mobile shelf 11 is moving (i.e., while the mobile shelf 11 is moving), the control unit 5 detects obstacles using the obstacle passage detection sensor 4 instead of the aisle obstacle detection sensor 3. Not using the aisle obstacle detection sensor 3 means that no detection signal is output from the aisle obstacle detection sensor 3, and that obstacles are not detected using the detection results from the aisle obstacle detection sensor 3.

[0038] The control unit 5 uses the aisle entry detection sensor 20 to detect obstacles passing through the entrance / exit detection line L1. The control unit 5 also uses the frame safety sensor 21 to detect obstacles passing through the frame detection line L2. In addition, when the mobile shelf 11 is stopped, the control unit 5 may use the obstacle passage detection sensor 4 in addition to the aisle obstacle detection sensor 3 to detect obstacles.

[0039] The control unit 5 determines the presence or absence of an obstacle in the passage R based on the detection result of the passage obstacle detection sensor 3 or the obstacle passage detection sensor 4. Furthermore, if the control unit 5 determines that there is an obstacle in the passage R, it locks the mobile shelf 11, preventing its movement and restricting its movement. For example, when the mobile shelf 11 is stopped, the control unit 5 determines the presence or absence of an obstacle in the passage R based on the detection result of the passage obstacle detection sensor 3. Also, for example, when the mobile shelf 11 is moving, the control unit 5 determines the presence or absence of an obstacle in the passage R based on the detection result of the obstacle passage detection sensor 4.

[0040] Each mobile shelf 11 may be equipped with an operation switch for the operator to move the mobile shelf 11. For example, the control unit 5 may start detecting obstacles when a movement command is input from the operation switch, and move the mobile shelf 11 if no obstacles are present. Alternatively, if an unmanned forklift or the like is used and operator operation is not required to move the mobile shelf 11, the control unit 5 may start detecting obstacles when a movement command is input from the higher-level control unit, and move the mobile shelf 11 if no obstacles are present.

[0041] Next, with reference to Figure 5, the operation of the mobile shelf unit 1 of this embodiment (control method of the mobile shelf) will be described. Figure 5 is a flowchart for explaining the operation of the mobile shelf unit 1 of this embodiment. In the following explanation, we will describe the operation when the mobile shelf 11 is moved from the open passage R1 to the closed passage R2.

[0042] The control unit 5 waits until a command to move the mobile shelf 11 is input (step S1). The command to move is input to the control unit 5, for example, when an operator operates an operation switch. Alternatively, the command to move may be input to the control unit 5 from a higher-level control unit.

[0043] When a movement command is input, the control unit 5 uses the passage obstacle detection sensor 3 to detect obstacles in the open passage R1 (step S2). Here, the passage obstacle detection sensor 3 scans the area including the open passage R1 with measurement light, receives the reflected light, and outputs the detection result. Based on the detection result input from the passage obstacle detection sensor 3, the control unit 5 detects obstacles in the open passage R1.

[0044] Next, the control unit 5 determines whether or not an obstacle has been detected in the open passage R1 (step S3). In other words, the control unit 5 determines whether or not there is an obstacle in the open passage R1. If the control unit 5 determines that an obstacle has been detected in the open passage R1, it locks the movable shelf 11 to restrict its movement (step S4).

[0045] The processing when a lock state occurs is not particularly limited. For example, when a lock state occurs, the control unit 5 may issue a warning to the operator or other relevant person. Alternatively, when a lock state occurs, the control unit 5 may wait until the conditions for releasing the lock state are met, and then return to step S1 or step S2.

[0046] On the other hand, if the control unit 5 determines in step S3 that no obstacles were detected, it stops the detection of obstacles by the passage obstacle detection sensor 3 (step S5). For example, the control unit 5 stops the detection of obstacles by the passage obstacle detection sensor 3 by controlling it to a state where no detection signal is output from the passage obstacle detection sensor 3. Alternatively, the control unit 5 stops the detection of obstacles by the passage obstacle detection sensor 3 by using the detection results from the passage obstacle detection sensor 3 to set it to a state where no obstacles are detected.

[0047] The control unit 5 moves the movable shelf 11 after step S5 (step S6). Here, the control unit 5 controls the drive motor 2e of the movable shelf 11 to move the movable shelf 11 toward the opposite shelf 2.

[0048] Furthermore, while the mobile shelf 11 is moving, the control unit 5 uses the obstacle passage detection sensor 4 to detect obstacles (step S7). For example, if an obstacle passes through the entrance / exit detection line L1, the control unit 5 detects the obstacle based on the detection result of the passage entry detection sensor 20. Also, if an obstacle passes through the frame detection line L2, the control unit 5 detects the obstacle based on the detection result of the frame safety sensor 21.

[0049] For example, if a worker or forklift enters aisle R, an obstacle is detected based on the detection result of the aisle entry detection sensor 20. Also, if item X falls from shelf 2 into aisle R and the mobile shelf 11 is moved, an obstacle is detected based on the detection result of the frame detection line L2.

[0050] Next, the control unit 5 determines whether or not an obstacle has been detected (step S8). If the control unit 5 determines that an obstacle has been detected, it locks the mobile shelf 11 to restrict its movement, similar to step S4 (step S9). On the other hand, if the control unit 5 determines in step S8 that no obstacle was detected, it moves the mobile shelf 11 until the open passage R1 becomes the closed passage R2, and then completes the movement of the mobile shelf 11 (step S10).

[0051] The mobile shelf unit 1 of this embodiment, as described above, comprises a plurality of shelves 2, an aisle obstacle detection sensor 3, an obstacle passage detection sensor 4, and a control unit 5. The plurality of shelves 2 are arranged facing each other. At least one of the plurality of shelves 2 is a mobile shelf 11 that can move in the direction of arrangement. The aisle obstacle detection sensor 3 can detect obstacles in the plane within the aisle R formed between the mobile shelf 11 and the other shelves 2. The obstacle passage detection sensor 4 can detect obstacles passing through a detection line along the outer edge G of the aisle R. The control unit 5 is connected to the aisle obstacle detection sensor 3 and the obstacle passage detection sensor 4. The control unit 5 also controls the movement of the mobile shelf 11. The control unit 5 also detects obstacles using the aisle obstacle detection sensor 3 when the mobile shelf 11 is stopped. Furthermore, the control unit 5 detects obstacles using the obstacle passage detection sensor 4 without using the aisle obstacle detection sensor 3 when the mobile shelf 11 is moving.

[0052] According to this embodiment of the mobile shelf unit 1, when the mobile shelf 11 is moving, obstacles are detected using an obstacle passage detection sensor 4 capable of detecting obstacles passing through a detection line, rather than using an in-passage obstacle detection sensor 3 capable of detecting obstacles within the plane. Therefore, according to this embodiment of the mobile shelf unit 1, there is no need to adjust the detection range of the in-passage obstacle detection sensor 3 in accordance with changes in the width of the passage R. Consequently, according to this embodiment of the mobile shelf unit 1, in a mobile shelf unit 1 that detects obstacles in the passage R formed between two shelves 2 including the mobile shelf 11, it is possible to detect obstacles without adjusting the obstacle detection range of the in-passage obstacle detection sensor 3 in accordance with changes in the width of the passage R.

[0053] Furthermore, in the mobile shelf unit 1 of this embodiment, a part of the outer edge G of the passage R (short edge G1) is the entrance / exit of the passage R. In addition, the mobile shelf unit 1 of this embodiment is equipped with a passage entry detection sensor 20 as an obstacle passage detection sensor 4, which detects obstacles passing through the entrance / exit.

[0054] According to this embodiment of the mobile shelving unit 1, by using the aisle entry detection sensor 20, it is possible to detect when an obstacle enters the aisle R while the mobile shelving unit 11 is moving. Therefore, it is possible to detect when a worker or forklift enters the aisle R while the mobile shelving unit 11 is moving.

[0055] Furthermore, in the mobile shelving unit 1 of this embodiment, the aisle entry detection sensor 20 is fixed to the end of the mobile shelving unit 11 in the horizontal direction perpendicular to the arrangement direction. With this mobile shelving unit 1 of this embodiment, obstacles can be detected at the end of the aisle R, making it possible to detect earlier when a worker or forklift enters the aisle R while the mobile shelving unit 11 is moving.

[0056] Furthermore, in the mobile shelf unit 1 of this embodiment, the mobile shelf 11 is oriented in the arrangement direction and has an item loading / unloading surface 2d through which items are loaded and unloaded. In addition, the mobile shelf unit 1 of this embodiment is equipped with a frame safety sensor 21 as an obstacle passage detection sensor 4, which is capable of detecting obstacles passing through a detection line along the item loading / unloading surface 2d.

[0057] According to this embodiment of the mobile shelf unit 1, if an item X falls into the aisle R while the mobile shelf 11 is moving, the mobile shelf 11 can be stopped. In other words, according to this embodiment of the mobile shelf unit 1, even if an item X falls from the shelf 2 after the aisle obstacle detection sensor 3 has detected an obstacle, it is possible to detect the obstacle.

[0058] Furthermore, in the mobile shelf unit 1 of this embodiment, the frame safety sensor 21 is fixed to the mobile shelf 11. With this mobile shelf unit 1 of this embodiment, the frame safety sensor 21 can be moved along with the movement of the mobile shelf 11.

[0059] Furthermore, in the mobile shelving unit 1 of this embodiment, the frame safety sensor 21 is positioned relatively low, and the aisle entry detection sensor 20 is positioned relatively high. With this configuration of the mobile shelving unit 1 of this embodiment, the height at which the frame safety sensor 21 detects obstacles and the height at which the aisle entry detection sensor 20 detects obstacles can be made different. Therefore, with the mobile shelving unit 1 of this embodiment, for example, the frame safety sensor 21 can detect an item X that has fallen to the floor, and the aisle entry detection sensor 20 can detect workers or forklifts.

[0060] Furthermore, in the mobile shelf unit 1 of this embodiment, the control unit 5 determines whether there is an obstacle in the passage R based on the detection result of the passage obstacle detection sensor 3 or the detection result of the obstacle passage detection sensor 4. Also, if the control unit 5 determines that there is an obstacle in the passage R, it restricts the movement of the mobile shelf 11. With this mobile shelf unit 1 of this embodiment, it is possible to more reliably prevent obstacles from getting caught between the mobile shelf 11 and the shelf 2 facing it.

[0061] Furthermore, the control method for the movable shelf 11 of this embodiment controls a movable shelf 11 that is included as at least one of a plurality of shelves 2 arranged facing each other, and that can move in the direction of arrangement of the shelves 2. The control method for the movable shelf 11 of this embodiment includes an obstacle detection sensor 3 in the passage and an obstacle passage detection sensor 4. The obstacle detection sensor 3 can detect obstacles in the plane within the passage R formed between two shelves 2 including the movable shelf 11. The obstacle passage detection sensor 4 can detect obstacles passing through a detection line along the outer edge G of the passage R. In addition, the control method for the movable shelf 11 of this embodiment detects obstacles using the obstacle detection sensor 3 when the movable shelf 11 is stopped, and detects obstacles using the obstacle passage detection sensor 4 without using the obstacle detection sensor 3 when the movable shelf 11 is moving.

[0062] According to the control method for the mobile shelf 11 of this embodiment, when the mobile shelf 11 is moving, obstacles are detected using an obstacle passage detection sensor 4 that can detect obstacles passing through a detection line, rather than using an in-passage obstacle detection sensor 3 that can detect obstacles within a plane. Therefore, according to the control method for the mobile shelf 11 of this embodiment, it is not necessary to adjust the detection range of the in-passage obstacle detection sensor 3 in accordance with changes in the width of the passage R. Accordingly, according to the control method for the mobile shelf 11 of this embodiment, the mobile shelf unit 1 that detects obstacles in the passage R formed between two shelves 2 including the mobile shelf 11 can detect obstacles without adjusting the obstacle detection range of the in-passage obstacle detection sensor 3 in accordance with changes in the width of the passage R.

[0063] Preferred embodiments of the present invention have been described above with reference to the attached drawings, but it goes without saying that the present invention is not limited to the above embodiments. The shapes and combinations of the various components shown in the above embodiments are examples, and can be modified in various ways based on design requirements, etc., without departing from the spirit of the present invention.

[0064] For example, in the above embodiment, the obstacle passage detection sensor 4 is configured to include a passage entry detection sensor 20 and a frame safety sensor 21. However, the present invention is not limited thereto, and it is also possible to adopt a configuration in which the obstacle passage detection sensor 4 includes only one of the passage entry detection sensor 20 and the frame safety sensor 21.

[0065] Furthermore, in the above embodiment, a configuration was described in which the passage obstacle detection sensor 3 is not used until the open passage R1 becomes the closed passage R2. However, the present invention is not limited thereto. For example, if the movable shelf 11 becomes locked during movement, and the movable shelf 11 is stopped, the passage obstacle detection sensor 3 may be used to detect obstacles. In such a case, for example, the detection range of the passage obstacle detection sensor 3 is adjusted according to the width dimension in the arrangement direction of the locked passage R.

[0066] Furthermore, the above embodiments can also be described, for example, as shown in the following appendix.

[0067] (Note 1) Multiple shelves arranged facing each other, with at least one of them being a movable shelf that can move in the direction of arrangement, A passage obstacle detection sensor capable of detecting obstacles in the plane within the passage formed between the aforementioned movable shelf and other aforementioned shelves, An obstacle passage detection sensor capable of detecting obstacles passing through a detection line along the outer edge of the passage, A control unit is connected to the aforementioned obstacle detection sensor in the passage and the obstacle passage detection sensor, and controls the movement of the mobile shelf, Equipped with, The control unit, While the mobile shelf is stopped, the obstacle is detected using the obstacle detection sensor in the passageway. While the movable shelf is moving, the obstacle is detected using the obstacle passage detection sensor, without using the obstacle detection sensor in the passage. A mobile shelving unit characterized by the following features.

[0068] (Note 2) A portion of the outer edge of the passage is an entrance / exit to the passage. The obstacle passage detection sensor includes a passage entry detection sensor that detects the obstacle passing through the entrance / exit. The mobile shelf unit as described in Appendix 1, characterized by the features described herein.

[0069] (Note 3) The passage entry detection sensor is fixed to the end of the movable shelf in a horizontal direction perpendicular to the arrangement direction. A mobile shelf unit as described in Appendix 2, characterized by the features described herein.

[0070] (Note 4) The movable shelf is oriented in the direction of the arrangement and has an item loading / unloading surface through which items are loaded and unloaded. The obstacle passage detection sensor includes an item entry / exit surface sensor capable of detecting obstacles passing through the detection line along the item entry / exit surface. A mobile shelf unit as described in Appendix 2 or 3, characterized by the above.

[0071] (Note 5) The aforementioned item entry / exit sensor is fixed to the movable shelf. The mobile shelf unit described in Appendix 4, characterized by the features described herein.

[0072] (Note 6) The item entry / exit sensor is positioned relatively low, and the passage entry detection sensor is positioned relatively high. A mobile shelf unit as described in either Appendix 4 or 5, characterized by the features described therein.

[0073] (Note 7) The control unit, Based on the detection result of the obstacle detection sensor in the passage, or the detection result of the obstacle passage detection sensor, the presence or absence of the obstacle in the passage is determined. If it is determined that the aforementioned obstacle is present in the aforementioned passage, the movement of the mobile shelf is restricted. A mobile shelving unit as described in any one of the notes 1 to 6.

[0074] (Note 8) A control method for a movable shelf, which is included as at least one of a plurality of shelves arranged facing each other and which is movable in the direction of the arrangement of the shelves, An obstacle detection sensor in a passageway capable of detecting obstacles in the plane within a passageway formed between two of the shelves, including the movable shelf, An obstacle passage detection sensor capable of detecting obstacles passing through a detection line along the outer edge of the passage, A system was established, While the mobile shelf is stopped, the obstacle is detected using the obstacle detection sensor in the passageway. While the movable shelf is moving, the obstacle is detected using the obstacle passage detection sensor, without using the obstacle detection sensor in the passage. A method for controlling a mobile shelf, characterized by the present invention. [Explanation of symbols]

[0075] 1...Movable shelf unit, 2...Shelf, 2a...Frame, 2b...Support column, 2c...Shelf board, 2d...Item entry / exit surface, 2e...Drive motor, 3...Aisle obstacle detection sensor, 4...Obstacle passage detection sensor, 5...Control unit, 10...Fixed shelf, 11...Movable shelf, 20...Aisle entry detection sensor, 21...Frame safety sensor, G...Outer edge, G1...Short edge, G2...Long edge, L1...Entrance / exit detection line, L2...Frame detection line, R...Aisle, R1...Open aisle, R2...Closed aisle, X...Item

Claims

1. Multiple shelves are arranged facing each other, and at least one of them is a movable shelf that can move in the direction of arrangement. A passage obstacle detection sensor capable of detecting obstacles in the plane within the passage formed between the aforementioned movable shelf and other aforementioned shelves, An obstacle passage detection sensor capable of detecting obstacles passing through a detection line along the outer edge of the passage, A control unit is connected to the aforementioned obstacle detection sensor in the passage and the obstacle passage detection sensor, and controls the movement of the mobile shelf, Equipped with, The control unit, While the mobile shelf is stopped, the obstacle is detected using the obstacle detection sensor in the passageway. While the movable shelf is moving, the obstacle is detected using the obstacle passage detection sensor, without using the obstacle detection sensor in the passage. A mobile shelving unit characterized by the following features.

2. A portion of the outer edge of the passage is an entrance / exit to the passage. The obstacle passage detection sensor includes a passage entry detection sensor that detects the obstacle passing through the entrance / exit. The mobile shelving unit according to claim 1, characterized in that it is as described above.

3. The passage entry detection sensor is fixed to the end of the movable shelf in a horizontal direction perpendicular to the arrangement direction. The mobile shelf unit according to claim 2, characterized in that it is as described above.

4. The movable shelf is oriented in the direction of the arrangement and has an item loading / unloading surface through which items are loaded and unloaded. The obstacle passage detection sensor includes an item entry / exit surface sensor capable of detecting obstacles passing through the detection line along the item entry / exit surface. The mobile shelving unit according to claim 2 or 3, characterized in that it is as described above.

5. The aforementioned item entry / exit sensor is fixed to the movable shelf. The mobile shelf unit according to feature 4.

6. The item entry / exit sensor is positioned relatively low, and the passage entry detection sensor is positioned relatively high. The mobile shelf unit according to feature 4.

7. The control unit, Based on the detection result of the obstacle detection sensor in the passage, or the detection result of the obstacle passage detection sensor, the presence or absence of the obstacle in the passage is determined. If it is determined that the aforementioned obstacle is present in the aforementioned passage, the movement of the mobile shelf is restricted. A mobile shelf unit according to any one of claims 1 to 3.

8. A control method for a movable shelf, which is included as at least one of a plurality of shelves arranged facing each other and which is movable in the direction of the arrangement of the shelves, A passage obstacle detection sensor capable of detecting in-plane obstacles in a passage formed between two shelves, including the aforementioned movable shelf, An obstacle passage detection sensor capable of detecting obstacles passing through a detection line along the outer edge of the passage, A system was established, While the mobile shelf is stopped, the obstacle is detected using the obstacle detection sensor in the passageway. While the movable shelf is moving, the obstacle is detected using the obstacle passage detection sensor, without using the obstacle detection sensor in the passage. A method for controlling a mobile shelf, characterized by the present invention.

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