JP2017086245A - Obstacle detection apparatus for mobile article shelf - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an obstacle detection apparatus for a mobile article shelf, an apparatus that can surely detect obstacles even when inter-shelf distance varies.SOLUTION: The apparatus is equipped with an inter-shelf distance acquisition means 20a-20c that can acquire distance data between adjacent shelves. Near the floor surface of the shelf, there are installed a plurality of distance sensors 2a-2f, 3a-3m facing an adjacently opposing shelves. After the formation of work spaces S1, S2 or during the closing operation of the work spaces S1, S2, the output of the distance sensors arranged in the work spaces S1, S2 and the distance information acquired by the inter-shelf distance acquisition means are each compared. The apparatus is further equipped with a judgement means 11 that can judge detection of obstacles 18 in the event of a difference at least between the output of one distance sensor and the distance information.SELECTED DRAWING: Figure 2

Description

  The present invention relates to an obstacle detection device for a mobile article shelf that detects an obstacle in a work space formed between movable shelves.

  In a mobile goods shelf having a plurality of shelves used in a warehouse, a library, etc., the shelf arranged on the rail extending in the front-rear direction laid on the floor surface is moved manually or electrically along the rail and adjacent to it. Some have improved the accommodation efficiency of articles in a limited space by forming a work space between arbitrary shelves. In such a mobile article shelf, if the shelf is moved while an obstacle such as a person or an article exists in the work space, the obstacle may be sandwiched between the shelves.

  Therefore, as in Patent Document 1, there is a mobile article shelf provided with a plurality of infrared sensors, respectively, below the front surface of the base constituting the lower part of the opposing mobile shelf. These infrared sensors are to detect when the irradiated infrared rays are reflected back to some object, and the object is detected. Are arranged alternately on the shelves.

  Further, in Patent Document 1, the infrared detectable distance is set slightly shorter than the distance between the shelves in the work space determined as a fixed value in advance, and the shelves facing when the work space is formed between the shelves facing each other Therefore, when any infrared sensor detects an object, it can be determined that the object is an obstacle existing in the work space. When an obstacle is detected by the infrared sensor, control is performed so that the shelf is not moved even if an instruction to close the work space is issued.

Japanese Patent Laid-Open No. 5-186017 (page 2, FIG. 1)

  However, the obstacle detection device as in Patent Document 1 is set in advance so that the infrared detectable distance is slightly shorter than the predetermined inter-shelf distance in the predetermined work space. When the space is closed, the adjacent opposing shelf is detected and the shelf is stopped. Therefore, the sensor signal is ignored during the closing operation. Therefore, for example, when a person enters the work space or an article stored in the shelf falls on the floor after the shelf starts to move in response to a closing command / operation of the work space, There was a problem that obstacles could not be detected by the infrared sensor.

  The present invention has been made by paying attention to such problems, and provides an obstacle detection device for a mobile goods shelf that can reliably detect an obstacle even when the distance between the shelves changes. The purpose is to do.

In order to solve the above problems, an obstacle detection device for a mobile goods shelf according to the present invention includes:
An obstacle detection device for detecting an obstacle in a work space between shelves formed between movable shelves placed on rails,
Comprising a shelf-to-shelf distance obtaining means capable of obtaining distance information between the adjacent shelves;
Near the floor of the shelf, a plurality of distance sensors facing the opposite shelf are provided,
After the work space is formed or when the work space is closed, the output of the distance sensor arranged in the work space is compared with the distance information acquired by the inter-shelf distance acquisition means, and at least one distance is obtained. When there is a difference between the output of the sensor and the distance information, it further comprises a judging means for judging that an obstacle has been detected.
According to this feature, since the inter-shelf distance acquisition means always acquires the distance information between adjacent shelves, the change in the value is proportional to the change in the distance between the shelves due to the movement of the shelf, and the distance sensor When there is no object, an output indicating the distance to the opposite shelf is output, and similarly, the change in the value is proportional to the change in the distance between the shelves due to the movement of the shelf. Therefore, if there is a difference between the output of at least one distance sensor and the distance information, it is determined that the distance sensor has output a distance to an object other than the opposite shelf, so the distance between the fluctuating shelves Regardless of this, obstacles can be reliably detected.

The inter-shelf distance acquisition means is a sensor device that is provided on the upper end side of the shelves, has directivity in the direction of adjacent shelves, and measures the distance from the shelves facing each other. .
According to this feature, since the sensor device is provided on the upper end side of the shelf, the distance between the adjacent shelves can be accurately measured without measuring the distance to the person performing the work in the work space. Can be measured.

The inter-shelf distance acquisition means is a sensor device that measures the movement distance of the shelf from the rotation of a reversible motor that moves the shelf.
According to this feature, since the distance between shelves can be measured by a method different from the distance sensor regardless of the presence or absence of an obstacle between shelves, it is possible to prevent erroneous detection.

The determination unit includes a transmission unit that transmits a signal for stopping the target shelf based on data obtained by comparing the output of the distance sensor and the inter-shelf distance measured by the inter-shelf distance acquisition unit. It is said.
According to this feature, the shelf can be stopped immediately upon detection of an obstacle, so that safety is high.

The determination unit detects that there is an obstacle in the work space when the difference between the output of the distance sensor and the inter-shelf distance measured by the inter-shelf distance acquisition unit is greater than or equal to a preset value. It is characterized by that.
According to this feature, by providing an erroneous measurement or measurement blur so-called dead zone, it is possible to reliably detect an obstacle while avoiding erroneous detection.

It is a perspective view which shows the mobile goods shelf in an Example. It is an image figure which shows the aspect which the movement shelf moved to the one side. It is an image figure which shows the aspect which the movement shelf moved to the other side. It is a flowchart which shows a detection process. It is a table | surface figure which shows each numerical example in a detection process. It is an image figure which shows the modification in a shelf distance acquisition means.

  EMBODIMENT OF THE INVENTION The form for implementing the obstacle detection apparatus of the mobile goods shelf which concerns on this invention is demonstrated below based on an Example.

  An obstacle detection device for a mobile goods shelf according to an embodiment will be described with reference to FIGS. 1 to 6.

  A mobile goods shelf 4 shown in FIGS. 1 and 2 is arranged mainly in a library or a warehouse. The movable article shelf 4 includes two rails 5 and 5 that extend in parallel on the floor surface, fixed shelves 2A and 2B that are fixedly mounted on both ends in the longitudinal direction of the rails 5 and 5, and a fixed shelf. The motor-driven movable shelves 3 </ b> A and 3 </ b> B that are mounted so as to be movable along the rails 5 and 5 between 2 </ b> A and 2 </ b> B are mainly configured. In this movable article shelf 4, the longitudinal dimensions of the rails 5 and 5 are longer by a predetermined length than the total dimension in the moving direction of the fixed shelves 2A and 2B and the movable shelves 3A and 3B. , 2B and the movable shelves 3A, 3B can be selectively separated from each other to form a work space. In the present embodiment, the space between the fixed shelf 2A and the movable shelf 3A will be described as a work space S1, and the space between the movable shelves 3A and 3B will be described as a work space S2.

  The movable shelves 3A and 3B are provided with wheels (not shown) on the bottom surfaces thereof, and are placed on the rails 5 and 5 via the wheels so as to be able to run on their own. The movable shelves 3A and 3B have electric reversible motors 16 and 16 that are linked to the wheels. The reversible motors 16, 16 are connected to drive control devices 13, 13 that perform drive control of the mobile article shelf 4, and the reversible motors 16, 16 are rotated forward or reverse to move the movable shelves 3 </ b> A, 3 </ b> B. Can move along the rails 5 and 5. Furthermore, the rotary shelves 3A and 3B are respectively provided with rotary encoders 17 and 17 that can measure the rotation of the reversible motors 16 and 16 at any time and output the value of the moving distance of the mobile shelves 3A and 3B. Rotary encoders 17 and 17 (inter-shelf distance acquisition means) that can output respective distance values between the shelves 2A, 2B, 3A, and 3B are provided. It should be noted that the number of fixed shelves and movable shelves that can be arranged, the number and width of work spaces, and the like can be appropriately changed by adjusting the length dimensions of the rails 5 and 5 themselves, the width of each shelf, and the like.

  These fixed shelves 2A, 2B and movable shelves 3A, 3B have shelves 6, 6,... Having a plurality of upper and lower shelves that can display articles such as books. .. Are provided on the side surface in a detachable manner, and various devices to be described later are incorporated in each of the decorative panels 7, 7,.

  On the outer surface of the decorative panel 7 of the fixed shelf 2A, a power switch 8 for the entire movable article shelf 4 and a monitor 9 that can be operated by a touch panel method are provided. On the outer surface of the decorative panel 7 of the fixed shelf 2B, A manual operation button 14 is provided. On the outer surfaces of the decorative panels 7 and 7 of the movable shelves 3A and 3B, manual operation buttons 14 and 15 are provided on both ends in the lateral direction, respectively.

  The mobile article shelf 4 includes an obstacle detection device 1 that detects an obstacle in a work space formed between the shelves. As shown in FIG. 2, the obstacle detection device 1 includes a central processing unit 11 that is a determination unit disposed in the decorative panel 7 of the fixed shelf 2 </ b> A, and sensor units 21, 22, 31, and 32. ing.

  The sensor unit 21 of the fixed shelf 2A is composed of distance sensors 2a to 2c directed to the opposite movable shelf 3A side, an inter-shelf distance sensor 20a that is a sensor device, and a sensor control device 21a. The sensor unit 22 includes distance sensors 2d to 2f directed to the movable shelf 3B and a sensor control device 22a.

  The sensor unit 31 of the movable shelf 3A includes distance sensors 3a to 3c directed to the fixed shelf 2A, distance sensors 3d to 3f directed to the movable shelf 3B, an inter-shelf distance sensor 20b, and a sensor control device 31a. Similarly, the sensor unit 32 of the movable shelf 3B includes distance sensors 3g to 3i directed to the movable shelf 3A side, distance sensors 3j to 3m directed to the fixed shelf 2B side, an inter-shelf distance sensor 20c, and a sensor. And a control device 32a.

  The sensor control devices 21a, 31a, and 32a include distance sensors 2a to 2c, 3a to 3c, 3d to 3f, 3g to 3i, and 3j to 3m, and inter-shelf distance sensors 20a to 20c, respectively, at predetermined time intervals. An operation program to be operated is incorporated, and each distance sensor and each of the inter-shelf distance sensors 20a to 20c operate at predetermined time intervals according to this operation program. The sensor control device 22a operates the distance sensors 2d to 2f at predetermined time intervals according to an operation program.

  The distance sensors 2a to 2c, 2d to 2f, 3a to 3c, 3d to 3f, 3g to 3i, 3j to 3m and the inter-shelf distance sensors 20a to 20c are ultrasonic waves having a sound wave transmitting unit and a sound wave input unit (not shown). This is a distance sensor of the type, and the time when the sound wave irradiated from the sound wave transmitting unit is reflected on the opposite shelf and returns to the sound wave input unit is sent to the central processing unit 11 as an output.

  In particular, the distance sensors 2a to 2c, 2d to 2f, 3a to 3c, 3d to 3f, 3g to 3i, and 3j to 3m are ultrasonic distance sensors having a wide detection range in the longitudinal direction of each shelf. The distance sensor can widely irradiate ultrasonic waves into the work spaces S1, S2 between the shelves. Moreover, each distance sensor which opposes is shifted | deviated and arrange | positioned in the longitudinal direction of each shelf, and interference of the sound wave of each distance sensor which opposes is suppressed.

  The distance sensors 2a to 2c of the sensor unit 21, the distance sensors 3a to 3c of the sensor unit 31, and the inter-shelf distance sensor 20a are outputs between the fixed shelf 2A and the movable shelf 3A facing each other in the central processing unit 11. Grouped and managed as a sensor group α for measuring values. The distance sensors 3d to 3f of the sensor unit 31, the distance sensors 3g to 3i of the sensor unit 32, and the inter-shelf distance sensor 20b are grouped as a sensor group β that measures an output value between the movable shelf 3A and the movable shelf 3B. The distance sensor 3j to 3m of the sensor unit 32, the distance sensor 2d to 2f of the sensor unit 22, and the inter-shelf distance sensor 20c are sensor groups γ that measure output values between the movable shelf 3B and the fixed shelf 2B. As a group (see FIG. 5).

  The central processing unit 11 is connected to the drive control units 13 and 13, the power switch 8 and the monitor 9, and the sensor units 21, 22, 31, and 32. And manual operation buttons 14 and 15 are connected by wire or wireless. Further, the central processing unit 11 includes a transmission unit 12 that sends a drive signal and a stop signal to the drive control device 13. The central processing unit 11, the drive control units 13, 13, the power switch 8 and the monitor 9, and the sensor units 21, 22, 31, 32 may be connected by radio.

  The inter-shelf distance sensors 20a to 20c and the central processing unit 11 constitute inter-shelf distance acquisition means that can measure the inter-shelf distance. As shown in FIG. 1, the inter-shelf distance sensors 20 a to 20 c are arranged on the upper end side of the shelf, and thus do not detect a person who has entered the work space. The time for returning to the sound wave input unit after being reflected by the fixed shelf is sent to the central processing unit 11 as distance information. The central processing unit 11 calculates the distance between the shelves adjacent to the fixed shelves 2A and 2B based on the distance information received from the inter-shelf distance sensors 20a to 20c.

  Next, various operation processes of the mobile article shelf 4 will be described. Here, only the operation processing mode of the moving shelf 3A will be described, and the description of the operation processing mode of the moving shelf 3B will be omitted.

  Taking the case where the work space S2 is closed as an example, as shown in FIG. 2, when the manual operation button 14 (see FIG. 1) is pressed while the moving shelf 3A is stopped, the pressing signal is displayed at the center. It is sent to the processing device 11.

  In the operation processing setting of the central processing unit 11, the moving direction of the movable shelf 3A is set to the manual operation buttons 14 and 15, respectively, and the selected manual operation button is installed in the mobile article shelf 4. Operates to expand the working space between the side and the adjacent shelf. For example, in the moving shelf 3A, when the manual operation button 14 is pressed, the moving shelf 3A is in the direction of the moving shelf 3B, and when the manual operation button 15 is pressed, the moving shelf 3A is in the direction of the fixed shelf 2A. Moved. Therefore, when the manual operation button 14 is pressed, the work space S1 between the movable shelf 3A and the fixed shelf 2A is expanded, and at the same time, the work space S2 between the movable shelf 3A and the movable shelf 3B is closed. Will work. When the manual operation button 14 on the fixed shelf 2B is pressed, the movable shelf 3B moves in the direction of the movable shelf 3A so as to expand the work space S3 between the adjacent movable shelf 3B. It has become.

  The central processing unit 11 operates distance sensors 3d to 3i (to be described later) and an inter-shelf distance sensor 20b based on a pressing signal of the manual operation button 14 of the movable shelf 3A. The output obtained from the distance sensors 3d to 3i and the inter-shelf distance sensor 20b is sent to the central processing unit 11, and the central processing unit 11 performs a detection process for detecting the obstacle 18 in the work space S2 based on the output. Do.

  When it is confirmed that there is no obstacle 18 in the work space S2 by this detection process, a drive signal is sent from the transmission unit 12 of the central processing unit 11 to the drive control device 13, and the drive control device 13 sends the reversible motor 16 to the drive control device 13. Is driven (in this case, normal rotation) to move the movable shelf 3A in the direction of the movable shelf 3B. On the other hand, when the obstacle 18 in the work space S2 is detected by the detection process in the stop state of the movable shelf 3A, the central processing unit 11 transmits a process for not transmitting a drive signal to the drive control unit 13 or a stop signal. And a process for displaying an alert message on the monitor 9.

  The central processing unit 11 stores the output (movement distance) received from each rotary encoder 17, 17 (see FIG. 2), which is a sensor device that constitutes the inter-shelf distance acquisition means together with the central processing unit 11, and the central processing unit 11. The coordinates of the moving shelves 3A and 3B are calculated from the absolute coordinates of the moving shelves 3A and 3B before the moving shelves are moved, and the coordinates of the moving shelves 3A and 3B are stored in the central processing unit 11. From the absolute coordinates of the fixed shelves 2A and 2B, the central processing unit 11 can determine the distance between the shelves.

  Therefore, when the movable shelf 3A moves normally, the central processing unit 11 calculates an appropriate inter-shelf distance of the movable shelf 3A from the movement distance of the movable shelf 3A, and the drive control device 13 is based on the inter-shelf distance. A normal stop process for stopping the movable shelf 3A at an appropriate position is performed. The moving distance of the moving shelf 3A may be calculated based on the distance information received from the inter-shelf distance sensor 20b.

  Next, the detection process will be described in detail with reference to FIGS. 4 and 5 by taking FIG. 3 as an example. FIG. 3 shows that when the movable shelf 3A is moved in the direction of the fixed shelf 2A in accordance with the closure of the work space S1, when the manual operation button 15 (see FIG. 1) is pressed in the stopped state, an obstacle is detected by the detection process. It is the figure which illustrated the case where the obstacle 18 fell from the shelf part 6 to work space S1 after the movement shelf 3A started a movement without being detected.

  The detection process is continuously performed after the manual operation button is pressed in a state where the movable shelf is in a stopped state, and then the movement of the movable shelf accompanying the closing of the work space is completed. As described above, when the manual operation button 15 is pressed, the closing operation of the work space S1 is started, and the central processing unit 11 operates the sensor group α at a predetermined interval, and all the distances in the sensor group α. Outputs from the sensors 2a to 2c, the distance sensors 3a to 3c, and the inter-shelf distance sensor 20a are acquired.

  The central processing unit 11 converts each distance information received from the distance sensors 2a to 2c, the distance sensors 3a to 3c, and the inter-shelf distance sensor 20a into a distance value in step Sa1 in the detection process.

  Next, in step Sa2, the distance information output from all the distance sensors 2a to 2c and the distance sensors 3a to 3c in the sensor group α is compared with the distance value measured by the inter-shelf distance sensor 20a.

  Subsequently, in step Sa3, distance information corresponding to a distance value at which a difference with respect to the distance value between the fixed shelf 2A and the movable shelf 3A measured by the inter-shelf distance sensor 20a is equal to or larger than an allowable error (20 mm) is output. It is determined whether one or more distance sensors are present. When it is determined that there is one or more distance sensors whose difference with respect to the distance value measured by the inter-shelf distance sensor 20a is equal to or greater than an allowable error (in FIG. 5, a distance value of 165.0 mm based on the distance information of the distance sensor 3b and the shelf The difference from the distance value 583.75 mm based on the distance information of the inter-distance sensor 20a is 418.75 mm.) In step Sa4, there is an obstacle 18 in the work space S1 based on the determination information. The determination process of the presence of the obstacle 18 is completed.

  The central processing unit 11 performs an emergency stop process for outputting a stop process from the transmission unit 12 to the drive control device 13 based on the detection of the obstacle 18.

  Thus, the distance value between the adjacent shelves measured based on the information measured by the inter-shelf distance sensor 20a is compared with the distances based on the distance information of the distance sensors 2a to 2c and the distance sensors 3a to 3c. Thus, since it can be determined that the distance sensors 2a to 2c and the distance sensors 3a to 3c have measured the distance to the object other than the other shelf, that is, the obstacle 18, the distance between adjacent shelves varies, for example, while the shelf is moving. Even in this case, the obstacle 18 can be reliably detected, and erroneous detection due to measurement errors of the distance sensors 2a to 2c and the distance sensors 3a to 3c can be prevented.

  As described above, the sensor control devices 21a and 31a operate the distance sensors 2a to 2c, the distance sensors 3a to 3c, and the inter-shelf distance sensor 20a every predetermined time according to the output program. If it is determined that there is no obstacle 18 in S1, the process proceeds to step Sa1 and the detection process is repeated. Since the detection process is repeated every predetermined time as described above, the obstacle 18 can be reliably detected even when the movable shelf 3A is traveling. When it is determined that the movement of the movable shelf 3A accompanying the closure of the work space S1 has been completed based on the output received from the rotary encoders 17 and 17, the central processing unit 11 performs the detection process using the sensor group α. finish.

  Although the embodiments of the present invention have been described with reference to the drawings, the specific configuration is not limited to these embodiments, and modifications and additions within the scope of the present invention are included in the present invention. It is.

  For example, in the above embodiment, the distance information between adjacent shelves to be compared with the distance information output from the distance sensor in the detection procedure uses the distance information acquired by the inter-shelf distance sensor that is an ultrasonic sensor. For example, the distance information between shelves calculated by the output received from the rotary encoders 17 and 17 may be used.

  Moreover, although the ultrasonic sensor was utilized as a distance sensor and a distance sensor between shelves, it is not restricted to this, For example, if it can measure the distance to the opposite shelf, technology, such as a laser distance meter, is substituted. Also good. Further, for example, as in the modification shown in FIG. 6, the pantographs 50 a to 50 b on which the rod-shaped bodies 52 and 52 are mounted on the movable article shelf 40 with joints 51 a to 51 c between adjacent shelves. 50c is provided, and the angle formed between the rod-shaped bodies 52 and 52 is measured by encoders (not shown: inter-shelf distance acquisition means) provided in the joints 51a to 51c of the pantographs 50a to 50c, You may enable it to measure the distance between shelves according to this angle. As described above, by adopting a plurality of methods as a means for measuring the distance between the shelves, the distance between the shelves can be measured even if any of the distance measuring means is defective. The moving shelf can be moved accurately.

  In addition, the operation of the distance sensor is not limited to the time when the manual operation buttons 14 and 15 are pressed and the moving shelf is moving, and the distance sensor may be operated at all times.

  In this embodiment, the transmission unit 12 is built in the central processing unit 11. However, the central processing unit 11 and a separate transmission unit are provided in the decorative panel 7. You may make it connect with a transmission part.

  The central processing unit 11 is not limited to the normal stop process or the emergency stop process of the moving shelf based on the information detected by the obstacle. For example, when the central processing unit 11 detects the obstacle 18, the detection information May be displayed on the monitor 9 to call attention, or may be alerted by a lighting lamp or a warning sound.

  Moreover, in the said Example, although the distance information of the distance sensor and the distance sensor between shelves was each converted into the distance value, not only this but the distance information of each distance sensor and the distance sensor between shelves It may be recognized as a distance and used without conversion. In the above-described embodiment, the description has been given of the mode in which the tolerance in the detection process is set to 20 mm or more. However, the tolerance is appropriately changed according to the size and shape of the articles stored in the shelf, the size, shape, and material of the shelf. can do.

  In addition, the sensor groups α, β, and γ have been described with the configuration in which the distance sensor between the shelves and the distance sensor between the shelves are the same group. Sensors may be grouped.

  Moreover, although the movement shelf 3A, 3B demonstrated the aspect which is an electrically-driven movement shelf moved by the reversible motors 16, 16, for example, it may be a thing which can be moved manually, and in this case, the central processing The apparatus 11 detects that the movement of the shelf due to the closure is started by the change in the distance information acquired from the inter-shelf distance sensor, and starts the detection process by operating the target sensor group based on the start of the movement. Will do.

DESCRIPTION OF SYMBOLS 1 Obstacle detection apparatus 2A, 2B Fixed shelf 2a-2f Distance sensor 3A, 3B Movement shelf 3a-3m Distance sensor 4 Mobile goods shelf 5 Rail 6 Shelf part 7 Cosmetic panel 8 Power switch 9 Monitor 11 Central processing unit (judgment means) , Distance between shelves)
12 transmitter 13 drive control device 14, 15 manual operation button 16 reversible motor 17 rotary encoder (sensor device, inter-shelf distance acquisition means)
18 Obstacles 20a to 20c Inter-shelf distance sensor (sensor device, inter-shelf distance acquisition means)
21, 22 Sensor unit 21a, 22a Sensor control device 31, 32 Sensor unit 31a, 32a Sensor control device 40 Mobile article shelf 50a-50c Pantograph (sensor device, inter-shelf distance acquisition means)
51a-51c joint 52 rod-like bodies S1, S2 workspace α, β, γ sensor group

Claims (5)

An obstacle detection device for detecting an obstacle in a work space between shelves formed between movable shelves placed on rails,
Comprising a shelf-to-shelf distance obtaining means capable of obtaining distance information between the adjacent shelves;
Near the floor of the shelf, a plurality of distance sensors facing the opposite shelf are provided,
After the work space is formed or when the work space is closed, the output of the distance sensor arranged in the work space is compared with the distance information acquired by the inter-shelf distance acquisition means, and at least one distance is obtained. An obstacle detection apparatus for a mobile article shelf, further comprising a determination unit that determines that an obstacle has been detected when there is a difference between the output of the sensor and the distance information.   The inter-shelf distance acquisition means is a sensor device that is provided on the upper end side of the shelf, has directivity in the adjacent and opposite shelf direction, and measures a distance from the opposite shelf. The obstacle detection device for a mobile goods shelf according to claim 1.   The obstacle detection device for a mobile goods shelf according to claim 1, wherein the inter-shelf distance acquisition means is a sensor device that measures a movement distance of the shelf from rotation of a reversible motor that moves the shelf.   The determination unit includes a transmission unit that transmits a signal for stopping the target shelf based on data obtained by comparing the output of the distance sensor and the inter-shelf distance measured by the inter-shelf distance acquisition unit. The obstacle detection device for a mobile goods shelf according to any one of claims 1 to 3.   The determination unit detects that there is an obstacle in the work space when the difference between the output of the distance sensor and the inter-shelf distance measured by the inter-shelf distance acquisition unit is greater than or equal to a preset value. The obstacle detection device for a mobile goods shelf according to any one of claims 1 to 4.

Images