Patent attributes
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). Further, the attitude of the movable shelves (1) is corrected to be perpendicular to the travel direction (A) based on positional deviation of the absolute coordinates in the travel direction (A), i.e. traveled distance deviation.
