Abstract: A shelving system including a plurality of movable shelves (1) installed for back-and-forth movement on a travel path through a travel support device, thereby to handle articles with respect to the movable shelves (1) opposed to a working aisle (S) by using the working aisle (S) opened between the movable shelves (1). Each movable shelf (1) includes a pair of movement detectors (19) disposed in a left-right direction (B) perpendicular to the travel direction (A) of the movable shelves (1). Absolute coordinates of each movement detector (19) are found based on detection signals from the pair of movement detectors (19) of each movable shelve (1). The amount of left-right directional deviation from the travel path (i) of the movable shelves (1) is corrected based on the amount of deviation of the absolute coordinates in the left-right direction (B).

Abstract: A shelving system including a plurality of movable shelves (1) installed for back-and-forth movement on a travel path through a travel support device, thereby to handle articles with respect to the movable shelves (1) opposed to a working aisle (S) by using the working aisle (S) opened between the movable shelves (1). Each movable shelf (1) includes a pair of movement detectors (19) disposed in a left-right direction (B) perpendicular to the travel direction (A) of the movable shelves (1). Absolute coordinates of each movement detector (19) are found based on detection signals from the pair of movement detectors (19) of each movable shelve (1). The amount of left-right directional deviation from the travel path (i) of the movable shelves (1) is corrected based on the amount of deviation of the absolute coordinates in the left-right direction (B).

Abstract: Pulse encoders (21) are linked to motors (16) in driven travel support devices positioned in the opposite outside portions of a movable rack travel path (trackless) in a transverse direction to the travel path, and a movable rack controller (41) is provided for controlling drive rotation amounts of the motors (16), based on pulse signals from pulse encoders (21). That controller (41) finds travel distances of the driven travel support devices by counting the pulses from the pulse encoders (21), and, when a difference occurs in pulse counts, the controller finds predicted travel distances for the driven travel support devices expected in a certain period of time, based on the travel distances, and performs a movable rack deviation (inclination) correcting control to control speeds (drive rotation amounts) of the motors (16) to eliminate a deviation between the predicted travel distances.

Abstract: Pulse encoders (21) are linked to motors (16) in driven travel support devices positioned in the opposite outside portions of a movable rack travel path (trackless) in a transverse direction to the travel path, and a movable rack controller (41) is provided for controlling drive rotation amounts of the motors (16), based on pulse signals from pulse encoders (21). That controller (41) finds travel distances of the driven travel support devices by counting the pulses from the pulse encoders (21), and, when a difference occurs in pulse counts, the controller finds predicted travel distances for the driven travel support devices expected in a certain period of time, based on the travel distances, and performs a movable rack deviation (inclination) correcting control to control speeds (drive rotation amounts) of the motors (16) to eliminate a deviation between the predicted travel distances.