Vehicle body and tray obstacle avoidance detection device of four-way shuttle vehicle

Abstract

The utility model discloses a vehicle body and tray obstacle avoidance detection device of a four-way shuttle vehicle. The vehicle body and tray obstacle avoidance detection device comprises the four-way shuttle vehicle, a tray with goods, a Y-direction track and an X-direction track, the four-direction shuttle vehicle can run in the track direction of the Y-direction track and the X-direction track. Goods shelf supports are arranged on the two sides of each Y-direction rail, and trays are supported on the goods shelf supports. The four-way shuttle vehicle is provided with a jacking structure capable of ascending and descending; when the jacking structure of the four-way shuttle vehicle is not lifted and the four-way shuttle vehicle runs along the Y track, the four-way shuttle vehicle can freely shuttle below the tray; a tray Y + distance detection sensor and a tray Y-distance detection sensor are arranged on the front side and the rear side of the jacking structure in the Y direction correspondingly. Direction distance sensors are respectively arranged in four directions of a vehicle body of the four-direction shuttle vehicle; the four-way shuttle vehicle is prevented from colliding with the trays on the goods shelf supports, and the four-way shuttle vehicle is prevented from colliding with other four-way shuttle vehicles.

Description

Technical Field

[0001] The utility model relates to the field of storage and transportation vehicles, in particular to a vehicle body and a pallet obstacle avoidance detection device of a four-way shuttle vehicle. Background Art

[0002] The four-way shuttle is a new product for pallet storage logistics. Due to the extremely complex operating environment of the four-way shuttle on the shelf, the scheduling system that relies solely on software cannot avoid collisions between vehicles, especially when operating at crossroads. At the same time, when the inventory management system is in chaos, it cannot guarantee the correctness of the pallets in each warehouse. This may cause the four-way shuttle to collide with the goods when carrying the pallet to the cargo location, which will not only cause damage to the vehicle body, but also cause the risk of the vehicle body falling off the shelf and the goods falling off the shelf. Summary of the invention

[0003] Purpose of the invention: In order to overcome the deficiencies in the prior art, the utility model provides a body and pallet obstacle avoidance detection device for a four-way shuttle vehicle, which can detect the distance between the four-way shuttle vehicle and other obstacles in the running direction of the four-way shuttle vehicle, and detect the pallets on the shelf support of the Y-axis track; avoid the collision between the four-way shuttle vehicle and other four-way shuttle vehicles, and avoid the collision between the four-way shuttle vehicle and the pallets on the shelf support.

[0004] Technical solution: To achieve the above-mentioned purpose, the vehicle body and pallet obstacle avoidance detection device of the four-way shuttle vehicle of the utility model comprises a four-way shuttle vehicle, a pallet with goods, and a Y-direction track and an X-direction track that are staggered horizontally and vertically; the four-way shuttle vehicle can run along the track direction of the Y-direction track and the X-direction track; shelf supports are arranged on both sides of each of the Y-direction tracks, and pallets are supported on the shelf supports; the four-way shuttle vehicle is provided with a lifting structure that can be raised and lowered;

[0005] When the lifting structure of the four-way shuttle is not lifted, the four-way shuttle can freely shuttle under the pallet when running along the Y track; the front and rear sides of the lifting structure in the Y direction are respectively provided with a pallet Y+ distance detection sensor and a Y- distance detection sensor; when the lifting structure is in the lifted state, the Y+ distance detection sensor and the Y- distance detection sensor are flush with the height of the pallet supported by the shelf support.

[0006] Furthermore, the body of the four-way shuttle is provided with an X+ direction distance sensor and an X- direction distance sensor on the front and rear sides in the X direction respectively; the body of the four-way shuttle is provided with a Y+ direction distance sensor and a Y- direction distance sensor on the front and rear sides in the Y direction respectively.

[0007] Furthermore, when the lifting structure is in the lifting state, the Y+ distance detection sensor and the Y- distance detection sensor respectively detect the distance between the pallet on the shelf support and the four-way shuttle in each Y-direction track direction.

[0008] Furthermore, when the four-way shuttle runs on the X-direction track, the X+ direction distance sensor and the X- direction distance sensor respectively detect the distance between the four-way shuttle and the obstacle in the positive and negative directions of the X-direction track; when the four-way shuttle runs on the Y-direction track, the Y+ direction distance sensor and the Y- direction distance sensor respectively detect the distance between the four-way shuttle and the obstacle in the positive and negative directions of the Y-direction track.

[0009] Furthermore, the body and pallet obstacle avoidance detection device of the four-way shuttle vehicle includes a four-way shuttle vehicle obstacle avoidance detection circuit, and the four-way shuttle vehicle obstacle avoidance detection circuit includes a battery module, a PLC control module and an obstacle avoidance sensor module; the battery module is electrically connected to the PLC control module, and the PLC control module is electrically connected to the obstacle avoidance sensor module; the data detected by the obstacle avoidance sensor module is transmitted to the PLC control module through the communication module of the PLC control module.

[0010] Furthermore, the obstacle avoidance sensor module is composed of a Y+ distance detection sensor, a Y- distance detection sensor, a Y+ direction distance sensor, a Y- direction distance sensor, an X+ direction distance sensor and an X- direction distance sensor.

[0011] Furthermore, the positive and negative poles of the discharge port end of the battery in the battery module are electrically connected to the positive and negative poles of the DC IN end of the PLC-AP power supply switch module in the PLC control module respectively; the positive and negative poles of the DC OUT end of the PLC-AP power supply switch module are electrically connected to the positive and negative poles of the power supply of the Y+ distance detection sensor, the Y- distance detection sensor, the Y+ direction distance sensor, the Y- direction distance sensor, the X+ direction distance sensor and the X- direction distance sensor.

[0012] Furthermore, the PLC control module includes a first communication module and a second communication module; the 458A+ port of the first communication module is electrically connected to the 458A ports of the Y+ direction distance sensor, the Y- direction distance sensor, the X+ direction distance sensor and the X- direction distance sensor; the 458B- port of the first communication module is electrically connected to the 458B ports of the Y+ direction distance sensor, the Y- direction distance sensor, the X+ direction distance sensor and the X- direction distance sensor; the 458A+ port of the second communication module is electrically connected to the 458A ports of the Y+ distance detection sensor and the Y- distance detection sensor; the 458B- port of the second communication module is electrically connected to the 458B ports of the Y+ distance detection sensor and the Y- distance detection sensor.

[0013] Beneficial effects: The vehicle body and pallet obstacle avoidance detection device of the four-way shuttle vehicle of the utility model is provided with two distance detection sensors in the Y direction of the lifting structure of the four-way shuttle vehicle. When the lifting structure is in the lifting state, the two distance detection sensors detect the distance between the pallet on the Y track and the four-way shuttle vehicle to judge the number of pallets, thereby judging whether there is an error in the stacking of goods on the detected Y track; at the same time, the two distance sensors can detect the distance between the pallet and the four-way shuttle vehicle to judge whether to slow down or stop, so as to avoid the collision of goods on the pallet with goods on the shelf support when the four-way shuttle vehicle lifts the pallet. Distance sensors are respectively provided in the four directions of the vehicle body of the four-way shuttle vehicle. When the four-way shuttle vehicle is running on the X track or the Y track, the distance between the four-way shuttle vehicle and other four-way shuttle vehicles or obstacles is detected to determine whether to control the deceleration and braking of the four-way shuttle vehicle; avoid the collision of the four-way shuttle vehicle with other obstacles, and avoid the collision damage of the four-way shuttle vehicle. It can prevent collisions between vehicles and collisions between goods on pallets. It can also identify the location of abnormal inventory and report information to the inventory management system, thereby providing real-time feedback on inventory errors and achieving accurate inventory management. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Attached Figure 1 is a schematic diagram of a four-way shuttle;

[0015] Attached Figure 2 It is a schematic diagram of the Y-direction track and the X-direction track that are staggered horizontally and vertically;

[0016] Attached Figure 3 It is a comparative schematic diagram of the four-way shuttle on the Y-direction track without lifting the pallet and with lifting the pallet;

[0017] Attached Figure 4 It is a schematic diagram of the battery module in the circuit;

[0018] Attached Figure 5 It is a schematic diagram of the PLC-AP power supply switch module of the PLC control module in the circuit;

[0019] Attached Figure 6 This is the circuit connection diagram of four laser distance measuring sensors on the body of the four-way shuttle vehicle;

[0020] Attached Figure 7 It is the circuit connection diagram of two distance detection sensors on the lifting structure of the four-way shuttle vehicle;

[0021] Attached Figure 8 is a schematic diagram of the circuit connection of the first communication module;

[0022] Attached Fig. 9 is a schematic diagram of the circuit connection of the second communication module;

[0023] Attached Fig.10This is a schematic diagram of the circuit connection of the third communication module. DETAILED DESCRIPTION

[0024] The present invention will be further described below in conjunction with the accompanying drawings.

[0025] As attached Figure 1-2 As shown, the vehicle body and pallet obstacle avoidance detection device of the four-way shuttle vehicle is characterized by: comprising a four-way shuttle vehicle 1, a pallet 3 with goods, a Y-direction track 22 and an X-direction track 21 that are staggered horizontally and vertically; the four-way shuttle vehicle 1 can run along the track direction of the Y-direction track 22 and the X-direction track 21; shelf supports 23 are arranged on both sides of each of the Y-direction tracks 22, and the pallet 3 is supported on the shelf supports 23; the four-way shuttle vehicle 1 is provided with a lifting structure 12 that can be raised and lowered;

[0026] When the lifting structure of the four-way shuttle 1 is not lifted, the four-way shuttle can freely shuttle under the pallet 3 when running along the Y track 22; the front and rear sides of the lifting structure 12 in the Y direction are respectively provided with a pallet Y+ distance detection sensor 14 and a Y- distance detection sensor 13; when the lifting structure 12 is in the lifted state, the Y+ distance detection sensor 14 and the Y- distance detection sensor 13 are flush with the height of the pallet 3 supported on the shelf support 23.

[0027] As attached Figure 1-3 As shown, the pallets on the shelf supports 23 are all carrying goods. When the lifting structure 12 of the four-way shuttle 1 is not lifted, there is a certain gap between the lifting structure 12 of the four-way shuttle 1 and the pallets 3 placed on the shelf supports 23, so that the four-way shuttle 1 can freely pass under the shelf supports 23 where the pallets are placed; when the four-way shuttle 1 is lifted, the lifting structure 12 of the four-way shuttle 1 lifts up the pallets 3 with goods, and cannot freely move under the pallets on the shelf supports 23. The lifting structure 12 of the four-way shuttle 1 is set at the top of the four-way shuttle 1, and the body 11 of the four-way shuttle 1 is below the lifting structure 12. The body 11 is provided with wheels that cooperate with the X-direction track 21 and the Y-direction track 22, so that the four-way shuttle 1 can run and walk on the X-direction track 21 and the Y-direction track 22; the body 11 will not rise with the lifting of the lifting structure 12.

[0028] As attached Figure 1-3As shown, the body 11 of the four-way shuttle 1 is provided with an X+ direction distance sensor 17 and an X- direction distance sensor 18 on the front and rear sides in the X direction respectively; the body 11 of the four-way shuttle 1 is provided with a Y+ direction distance sensor 16 and a Y- direction distance sensor 15 on the front and rear sides in the Y direction respectively; the Y+ distance detection sensor 14, the Y- distance detection sensor 13, the Y+ direction distance sensor 16, the Y- direction distance sensor 4215, the X+ direction distance sensor 17 and the X- direction distance sensor 18 are all laser distance measuring sensors; the laser distance measuring sensor can only detect other four-way shuttles or other obstacles at the same height as the laser distance measuring sensor; that is, when the Y+ distance detection sensor 14 and the Y- distance detection sensor 13 follow the lifting structure 12 to rise to the same height as the pallet 3 placed on the shelf support 23, the Y+ distance detection sensor 14 and the Y- distance detection sensor 13 can detect that there is a pallet 3 on the shelf support 23 of the Y-direction track 22.

[0029] As attached Figure 3 As shown, when the lifting structure 12 is in the lifting state, the Y+ distance detection sensor 14 and the Y- distance detection sensor 13 respectively detect the distance between the pallet 3 on the shelf support 23 and the four-way shuttle 1 in the direction of each Y-direction track 22, that is, the distance between the pallet 3 on the shelf support 23 and the pallet 3 lifted up on the four-way shuttle 1.

[0030] When the four-way shuttle 1 runs on the X-direction track 21, the X+ direction distance sensor 17 and the X- direction distance sensor 18 respectively detect the distance between the four-way shuttle 1 and the obstacle in the positive and negative directions of the X-direction track; when the four-way shuttle 1 runs on the Y-direction track 22, the Y+ direction distance sensor 16 and the Y- direction distance sensor 15 respectively detect the distance between the four-way shuttle 1 and the obstacle in the positive and negative directions of the Y-direction track.

[0031] As attached Figure 1-3 As shown, when the four-way shuttle 1 lifts the pallet 3 with goods, the Y+ distance detection sensor 14 and the Y- distance detection sensor 13 are flush with the height of the pallet 3 supported on the shelf support 23. The Y+ distance detection sensor 14 and the Y- distance detection sensor 13 detect whether there are other pallets on the shelf support 23 on the Y-direction track 22 at the same height. When it is detected that the distance between other pallets and the vehicle body 11 is reduced to the deceleration setting value, the four-way shuttle 1 starts to decelerate; when the distance between other pallets and the vehicle body 11 is reduced to the braking setting value, the four-way shuttle 1 starts to brake and the speed is reduced to 0. At the same time, when the four-way shuttle 1 lifts the pallet with goods, the X+ direction distance sensor 17, the X- direction distance sensor 18, the Y+ direction distance sensor 16 and the Y- direction distance sensor 15 can also detect other four-way shuttles on the X-direction track and the Y-direction track that are not in the lifting state in real time.

[0032] Therefore, when the four-way shuttle 1 is not lifted, six laser distance measuring sensors detect the distance between the four-way shuttle 1 and other four-way shuttles in the moving direction to avoid collision; when the four-way shuttle 1 is lifted, four laser distance measuring sensors are on the body 11 of the four-way shuttle 1, and two laser distance measuring sensors are at the same height as the pallet 3 of the shelf support 23; when the four-way shuttle 1 is lifting the pallet with goods, when the four-way shuttle 1 is running on the X-direction track, the Y+ distance detection sensor 1 of the four-way shuttle 1 4 and Y-distance detection sensors 13 detect the pallets 3 on the shelf supports 23 of the Y-tracks on both sides and upload them to the inventory management system, so as to detect the errors in the placement of goods on the shelves in real time; when the four-way shuttle 1 is running on the Y-track, the Y+ distance detection sensor 14 and Y-distance detection sensor 13 of the four-way shuttle 1 detect whether there is a pallet 3 on the shelf support 23 in the moving direction of the four-way shuttle 1, and detect the distance, so as to decelerate and brake the four-way shuttle 1 to stop, so as to avoid the collision between the four-way shuttle 1 and the pallet on the shelf support 23.

[0033] As attached Figure 1-3 As shown, the Y+ distance detection sensor 14 and the Y- distance detection sensor 13 of the four-way shuttle 1 detect the distance between the pallet 3 on the shelf support 23 on the Y-track 22 and the four-way shuttle 1. By the length of the distance, it is determined how many goods are placed on the Y-track 22, that is, how many pallets are placed. If a pallets are detected, but b pallets are recorded on the network, when a and b are not equal, it can be determined that the placement of the goods and the pallets with goods is wrong, and it can be adjusted in time. The X+ direction distance sensor 17, the X- direction distance sensor 18, the Y+ direction distance sensor 16 and the Y- direction distance sensor 15 of the four-way shuttle 1 detect the distance data with other obstacles in the running direction of the four-way shuttle 1 in real time and transmit them to the PLC control module. When the first set value is reached, the deceleration is performed; when the second set value is reached, the brake is applied. The first set value is larger than the second set value, and the first set value and the second set value can be set according to the running requirements of the four-way shuttle 1.

[0034] As attached Figure 4-10 As shown, the vehicle and pallet obstacle avoidance detection device of the four-way shuttle vehicle includes a four-way shuttle vehicle obstacle avoidance detection circuit, and the four-way shuttle vehicle obstacle avoidance detection circuit includes a battery module 4, a PLC control module and an obstacle avoidance sensor module; the battery module 4 is electrically connected to the PLC control module, and the PLC control module is electrically connected to the obstacle avoidance sensor module; the data detected by the obstacle avoidance sensor module is transmitted to the PLC control module through the communication module of the PLC control module.

[0035] As attached Figure 4As shown, the battery module 4 includes a charging brush plate 42 and an emergency charging port 43; the positive and negative poles of the charging brush plate 42 and the emergency charging port 43 are electrically connected to the positive and negative poles of the charging port end of the battery 41; the battery 41 in the four-way shuttle 1 is charged by the charging brush plate 42; the battery 41 includes a power-on switch, and the power-on switch controls the discharge port end of the battery 41 to discharge or stop discharging.

[0036] As attached Figure 6-7 As shown, the obstacle avoidance sensor module is composed of a Y+ distance detection sensor 14, a Y- distance detection sensor 13, a Y+ direction distance sensor 16, a Y- direction distance sensor 15, an X+ direction distance sensor 17 and an X- direction distance sensor 18; the Y+ distance detection sensor 14, the Y- distance detection sensor 13, the Y+ direction distance sensor 16, the Y- direction distance sensor 4215, the X+ direction distance sensor 17 and the X- direction distance sensor 18 all include positive and negative power poles, a 458A port and a 458B port.

[0037] As attached Figure 4-10 As shown, the positive and negative poles of the discharge port end of the battery 41 in the battery module 4 are respectively electrically connected to the positive and negative poles of the DC IN end of the PLC-AP power supply switch module 51 in the PLC control module; the positive and negative poles of the DCOUT end of the PLC-AP power supply switch module 51 are electrically connected to the positive and negative poles of the power supply of the Y+ distance detection sensor 14, the Y- distance detection sensor 13, the Y+ direction distance sensor 16, the Y- direction distance sensor 15, the X+ direction distance sensor 17 and the X- direction distance sensor 18.

[0038] As attached Figure 8-10 As shown, the PLC control module includes a first communication module 53 and a second communication module 54; the 458A+ port of the first communication module 53 is electrically connected to the 458A ports of the Y+ direction distance sensor 16, the Y- direction distance sensor 15, the X+ direction distance sensor 17 and the X- direction distance sensor 18; the 458B- port of the first communication module 53 is electrically connected to the 458B ports of the Y+ direction distance sensor 16, the Y- direction distance sensor 15, the X+ direction distance sensor 17 and the X- direction distance sensor 18; the 458A+ port of the second communication module 54 is electrically connected to the 458A ports of the Y+ distance detection sensor 14 and the Y- distance detection sensor 13; the 458B- port of the second communication module 54 is electrically connected to the 458B ports of the Y+ distance detection sensor 14 and the Y- distance detection sensor 13. The 458A+ port of the second communication module 54 is electrically connected to the 458A port of the battery 41 , and the 458B- port of the second communication module 54 is electrically connected to the 458B port of the battery 41 , so that the PLC control module can detect the status of the battery.

[0039] As attached Figure 8-10 As shown, the CAN+ terminal and CAN- terminal of the first communication module 53 are electrically connected to the CANH terminal and CANL terminal of the driver respectively; the PLC control module also includes a third communication module 52; the 458A+ port and 458B- port of the third communication module 52 are electrically connected to the 458A+ port and 458- port of the remote control box respectively; the Ethernet port of the third communication module 52 is bidirectionally electrically connected to the network, and all data detected by the distance detection sensor are sent to the network after simple processing. For example, the number of pallets on a certain Y-axis track is uploaded to the network, and the information is reported to the inventory management system. The uploaded data is compared with the original recorded data on the network. When an error occurs in the comparison, it can be determined that the goods are placed incorrectly, thereby providing real-time feedback on inventory errors; adjustments can be made in a timely manner to correct errors.

[0040] As attached Figure 1-3 As shown, when the four-way shuttle 1 is running on the X-direction track 21 and the Y-direction track, once an obstacle appears in the running direction, the four-way shuttle 1 can automatically slow down and stop smoothly to avoid collision between the vehicles, and can also identify abnormal goods on the X-direction track 21. When the four-way shuttle 1 is running on the Y-direction track 22 with goods, the four-way shuttle 1 can not only identify obstacles in the running direction, but also identify the abnormal location of the goods when the goods inventory is abnormal, and the vehicle body can automatically slow down and stop to avoid collision between the cargo pallets and collision between the four-way shuttles 1.

[0041] Example

[0042] As attached Figure 1-3 As shown, four directional distance sensors are set in the four running directions of the four-way shuttle 1, and two distance detection sensors are set in the two directions of the Y-direction track of the lifting structure 12; the six sensors are connected to the PLC controller through 485 communication. When the software scheduling system of the four-way shuttle 1 has a vehicle path conflict or needs to avoid the intersection, the four-way shuttle 1 senses the vehicle in front through the bottom layer's own sensor, thereby performing a deceleration and stop action to avoid the collision of the vehicle with other vehicles; a working method is proposed:

[0043] When the four-way shuttle 1 is traveling in a certain direction, the laser distance sensor in the current direction will provide real-time feedback on the position of the obstacle from the four-way shuttle 1 in the direction of travel; when the obstacle is lower than the first set value from the vehicle body, the vehicle body 11 will decelerate slowly; during the deceleration process, the position values ​​of the obstacle and the four-way shuttle 1 will be detected in real time. Once it is lower than the second set value for deceleration and stop, the speed of the vehicle body 11 will be slowed down to 0, so that the four-way shuttle 1 will stop slowly, and an alarm will be issued for the obstacle in front to prevent the collision of the vehicle body. Secondly, when the pallet is not placed accurately in the storage location, i.e., in the Y-direction track 22, the four-way shuttle 1 can detect whether there is a pallet in the storage location through the Y+ distance detection sensor 14 and the Y- distance detection sensor 13. Once a pallet is detected in front, the four-way shuttle 1 will automatically decelerate and stop, and issue an alarm to avoid collision between pallets and cause the goods to fall from the shelf and cause losses.

[0044] The above is only a description of the preferred embodiment of the present invention. Ordinary technicians in this technical field can make several modifications and optimizations based on the above disclosure without departing from the above basic principles. These improvements and optimizations should be regarded as the understood protection scope of the present invention.

Claims

1. The body and pallet obstacle avoidance detection device of the four-way shuttle vehicle is characterized by: The invention comprises a four-way shuttle vehicle (1), a pallet (3) with goods, and Y-tracks (22) and X-tracks (21) that are staggered in a horizontal and vertical direction; the four-way shuttle vehicle (1) can run along the track directions of the Y-tracks (22) and the X-tracks (21); shelf supports (23) are arranged on both sides of each of the Y-tracks (22), and the pallet (3) is supported on the shelf supports (23); the four-way shuttle vehicle (1) is provided with a lifting structure (12) that can be raised and lowered; When the lifting structure of the four-way shuttle (1) is not lifted, the four-way shuttle can freely shuttle under the pallet (3) when running along the Y track (22); the front and rear sides of the lifting structure (12) in the Y direction are respectively provided with a pallet Y+ distance detection sensor (14) and a Y- distance detection sensor (13); when the lifting structure (12) is in the lifted state, the Y+ distance detection sensor (14) and the Y- distance detection sensor (13) are flush with the height of the pallet (3) supported on the shelf support (23).

2. The vehicle body and pallet obstacle avoidance detection device for the four-way shuttle vehicle according to claim 1, characterized in that: The body (11) of the four-way shuttle vehicle (1) is provided with an X+ direction distance sensor (17) and an X- direction distance sensor (18) on the front and rear sides in the X direction, respectively; the body (11) of the four-way shuttle vehicle (1) is provided with a Y+ direction distance sensor (16) and a Y- direction distance sensor (15) on the front and rear sides in the Y direction, respectively.

3. The vehicle body and pallet obstacle avoidance detection device for the four-way shuttle vehicle according to claim 1, characterized in that: When the lifting structure (12) is in the lifting state, the Y+ distance detection sensor (14) and the Y- distance detection sensor (13) respectively detect the distance between the pallet (3) on the shelf support (23) in the direction of each Y-direction track (22) and the four-way shuttle vehicle (1).

4. The vehicle body and pallet obstacle avoidance detection device for the four-way shuttle vehicle according to claim 2, characterized in that: When the four-way shuttle (1) runs on the X-direction track (21), the X+ direction distance sensor (17) and the X- direction distance sensor (18) respectively detect the distance between the four-way shuttle (1) and the obstacle in the positive and negative directions of the X-direction track; when the four-way shuttle (1) runs on the Y-direction track (22), the Y+ direction distance sensor (16) and the Y- direction distance sensor (15) respectively detect the distance between the four-way shuttle (1) and the obstacle in the positive and negative directions of the Y-direction track.

5. The vehicle body and pallet obstacle avoidance detection device for the four-way shuttle vehicle according to claim 1, characterized in that: The invention comprises a four-way shuttle vehicle obstacle avoidance detection circuit, the four-way shuttle vehicle obstacle avoidance detection circuit comprising a battery module (4), a PLC control module and an obstacle avoidance sensor module; the battery module (4) is electrically connected to the PLC control module, the PLC control module is electrically connected to the obstacle avoidance sensor module; the data detected by the obstacle avoidance sensor module is transmitted to the PLC control module via the communication module of the PLC control module.

6. The vehicle body and pallet obstacle avoidance detection device for the four-way shuttle vehicle according to claim 5, characterized in that: The obstacle avoidance sensor module is composed of a Y+ distance detection sensor (14), a Y- distance detection sensor (13), a Y+ direction distance sensor (16), a Y- direction distance sensor (15), an X+ direction distance sensor (17) and an X- direction distance sensor (18).

7. The vehicle body and pallet obstacle avoidance detection device for the four-way shuttle vehicle according to claim 6, characterized in that: The positive and negative electrodes of the discharge port end of the battery (41) in the battery module (4) are respectively electrically connected to the positive and negative electrodes of the DC IN end of the PLC-AP power switch module (51) in the PLC control module; the positive and negative electrodes of the DC OUT end of the PLC-AP power switch module (51) are electrically connected to the positive and negative electrodes of the power supply of the Y+ distance detection sensor (14), the Y- distance detection sensor (13), the Y+ direction distance sensor (16), the Y- direction distance sensor (15), the X+ direction distance sensor (17) and the X- direction distance sensor (18).

8. The vehicle body and pallet obstacle avoidance detection device for the four-way shuttle vehicle according to claim 7, characterized in that: The PLC control module comprises a first communication module (53) and a second communication module (54); the 458A+ port of the first communication module (53) is electrically connected to the 458A ports of the Y+ direction distance sensor (16), the Y- direction distance sensor (15), the X+ direction distance sensor (17) and the X- direction distance sensor (18); the 458B- port of the first communication module (53) is electrically connected to the 458B ports of the Y+ direction distance sensor (16), the Y- direction distance sensor (15), the X+ direction distance sensor (17) and the X- direction distance sensor (18); the 458A+ port of the second communication module (54) is electrically connected to the 458A ports of the Y+ distance detection sensor (14) and the Y- distance detection sensor (13); the 458B- port of the second communication module (54) is electrically connected to the 458B ports of the Y+ distance detection sensor (14) and the Y- distance detection sensor (13).

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