Unmanned forklift

Abstract

This invention relates to an unmanned forklift, comprising: a vehicle body; forks for supporting goods; a lifting drive mechanism for driving the forks to move up and down; a mast assembly connected to the vehicle body and capable of driving the forks to move horizontally relative to the vehicle body; a first detection device disposed on the mast assembly to form a first detection plane, the first detection plane extending generally in a horizontal direction; and a controller electrically connected to the first detection device, wherein when the forks lift or lower goods causing the goods to touch the first detection plane, the first detection device sends a first detection signal to the controller, and the controller obtains the height of the goods based on the first detection signal sent by the first detection device. The aforementioned unmanned forklift, equipped with a first detection device, can obtain the width of the goods, preventing goods from being too tall to be placed in the container or from colliding with the container, thereby improving the efficiency of goods storage.

Description

Technical Field

[0001] This invention relates to the field of unmanned forklift technology, and in particular to an unmanned forklift. Background Technology

[0002] Traditional unmanned forklifts can only limit the height of the forks when transporting goods to the container. Goods may hit the container due to excessive height during storage, affecting the storage efficiency. Summary of the Invention

[0003] Therefore, it is necessary to provide an unmanned forklift to address the problem of goods hitting containers due to excessive height.

[0004] An unmanned forklift includes:

[0005] body;

[0006] Forks are used to support goods.

[0007] A lifting drive mechanism is used to drive the lifting and lowering movement of the forks;

[0008] The mast assembly is connected to the vehicle body and drives the forks to move horizontally relative to the vehicle body;

[0009] A first detection device is disposed on the mast assembly to form a first detection plane, the first detection plane extending substantially horizontally, and the direction of the lifting movement of the forks relative to the vehicle body is substantially perpendicular to the first detection plane; and

[0010] The controller is electrically connected to the first detection device. When the forks lift the cargo so that the cargo touches the first detection plane, the first detection device sends a first detection signal to the controller. The controller obtains the height of the cargo based on the first detection signal sent by the first detection device.

[0011] The aforementioned unmanned forklift is equipped with a first detection device. The forks lift the goods so that they touch the first detection plane. The controller obtains the width of the goods based on the first detection signal issued by the first detection device, preventing the goods from being too tall to be placed in the container or from colliding with the container, thereby improving the efficiency of goods storage.

[0012] In one embodiment, the first detection device includes a first adjusting seat, a first mounting seat, and a first detector. The first detector is rotatably disposed on the first mounting seat, the first mounting seat is slidably connected to the first adjusting seat, and the first adjusting seat is fixed to the gantry assembly.

[0013] In one embodiment, the first mounting base is provided with a mounting hole, and the first adjusting base is provided with a waist-shaped hole. The waist-shaped hole is inclined relative to the horizontal plane. The first pin passes through the mounting hole and is partially exposed outside the mounting hole. The pin partially exposed outside the mounting hole is slidably disposed in the waist-shaped hole so that the position of the first mounting base is adjustable.

[0014] In one embodiment, the first adjustment seat includes a first side plate and a second side plate. There are two first side plates arranged opposite to each other. The first mounting seat is disposed between the two first side plates. There are two second side plates, and the two second side plates cover the top and bottom sides of the first mounting seat, respectively.

[0015] In one embodiment, a second detection device is also included, with the second detection device provided on opposite sides of the vehicle body to form mutually parallel second detection planes on both sides of the vehicle body, the second detection planes extending approximately in the vertical direction.

[0016] In one embodiment, the controller is electrically connected to the second detection device, and when the forks move the cargo so that the cargo touches the second detection plane, the second detection device sends a second detection signal to the controller, and the controller obtains the width of the cargo based on the second detection signal sent by the second detection device located on both sides of the vehicle body.

[0017] In one embodiment, the second detection device includes a second adjusting seat, a second mounting seat, and a second detector. The second detector is rotatably disposed on the second mounting seat, the second mounting seat is slidably connected to the second adjusting seat, and the second adjusting seat is fixed to the gantry assembly.

[0018] In one embodiment, it further includes at least one of the following:

[0019] The first detector is capable of emitting a laser, and the first detector rotates relative to the first mounting base to scan and form the first detection plane; and / or,

[0020] The second detector is capable of emitting a laser, and the second detector rotates and scans relative to the second mounting base to form the second detection plane.

[0021] In one embodiment, the mast assembly includes a first mast and a second mast, the first mast being connected to the vehicle body, the forks being slidably connected to the second mast, the second mast being connected to the first mast, and the first detection device being disposed on the first mast.

[0022] In one embodiment, the gantry assembly further includes a third gantry, the forks are slidably connected to the third gantry, and the third gantry is slidably connected to the second gantry, such that the second gantry is located between the first gantry and the third gantry, and the second gantry and the third gantry are capable of two-stage lifting movements. Attached Figure Description

[0023] Figure 1 This is a combined isometric view of an unmanned forklift in one embodiment;

[0024] Figure 2 for Figure 1 A magnified view of part A;

[0025] Figure 3 for Figure 1 A magnified view of part B;

[0026] Figure 4 This is a schematic diagram of the first detection plane in one embodiment;

[0027] Figure 5 This is a schematic diagram of the forks, cargo, and first detection plane in one embodiment;

[0028] Figure 6 This is a schematic diagram of the second detection plane in one embodiment;

[0029] Figure 7 This is a schematic diagram of the forks, cargo, and second detection plane in one embodiment;

[0030] Figure 8 for Figure 1 The image shows an exploded view of the unmanned forklift.

[0031] Figure 9 for Figure 1 The combined isometric view of the mast assembly and lifting drive mechanism of the unmanned forklift shown.

[0032] Figure 10 for Figure 9 Top view. Detailed Implementation

[0033] To facilitate understanding of the present invention, a more complete description will be given below with reference to the accompanying drawings. Preferred embodiments of the invention are shown in the drawings. However, the invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a thorough and complete understanding of the disclosure of the invention.

[0034] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly attached to the other element or there may be an intermediate element. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only implementation methods.

[0035] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this invention pertains. The terms used herein in the specification of the present invention are for the purpose of describing specific embodiments only and are not intended to limit the present invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0036] Please refer to Figure 1 , Figure 5 and Figure 8 An embodiment of the unmanned forklift is used to pick up goods 20. The unmanned forklift includes a vehicle body 100, a first mast 210, forks 300, a lifting drive mechanism 400, a first detection device 500, and a controller (not shown in the figure).

[0037] Please refer to Figure 1 The mast assembly 200 is connected to the vehicle body 100 and can drive the forks 300 to move horizontally relative to the vehicle body 100.

[0038] Specifically, the vehicle body 100 includes a body 110 and a chassis 120. The body 110 is fixedly connected to the chassis 120 and is located above the chassis 120. The mast assembly 200 is connected to the chassis 120.

[0039] In some embodiments, the vehicle body 110 and chassis 120 are connected by riveting, which facilitates replacement of the chassis 120 after damage and promotes resource reuse. In other embodiments, the vehicle body 110 and chassis 120 may also be an integrally formed structure, enhancing structural strength and integrity.

[0040] Further, please refer to Figure 8 The chassis 120 includes a connecting portion 121 and two protruding portions 122, which are respectively connected to both ends of the connecting portion 121. The protruding portions 122 extend along a first direction (i.e., Figure 8 Extending in the X direction (as shown), the protrusion 122 has a groove 123 on its inner side, and the groove 123 extends along... Figure 8Extending in the X direction, the outer side of the first mast 210 is provided with a roller 201. The roller 201 slides along the slide groove 123, that is, the mast assembly 200 can drive the fork 300 to move horizontally relative to the vehicle body 100 in the first direction, so that the fork 300 can adjust the distance between itself and the cargo 20 when picking up the cargo 20.

[0041] In some embodiments, the connecting portion 121 and the protrusion 122 are integrally formed, providing good integrity and high strength. In other embodiments, the connecting portion 121 and the protrusion 122 can also be separate structures, with the protrusion 122 detachably connected to the connecting portion 121 for easy replacement if the protrusion 122 is damaged.

[0042] In some embodiments, the length of the extension 122 is not adjustable. In other embodiments, the extension 122 may also be a telescopic structure to facilitate adjustment of its length to meet different space requirements when the unmanned forklift is moving.

[0043] In some embodiments, the roller 201 is disposed on the outer side of the first gantry 210. In other embodiments, the roller 201 may also protrude from the bottom of the first gantry 210. Alternatively, the slide groove 123 may be disposed on the first gantry 210, and the roller 201 may be disposed on the protrusion 122.

[0044] In some embodiments, two rollers 201 are provided on each side of the first gantry 210. In other embodiments, in order to prevent the rollers 201 from becoming damaged and unable to slide, multiple rollers 201 are provided on each side of the first gantry 210, and the multiple rollers 201 are arranged side by side at intervals along a first direction.

[0045] Further, please refer to Figure 8 The aforementioned unmanned forklift also includes wheels 130, which are rotatably mounted on the chassis 120.

[0046] In some embodiments, the wheel 130 is rotatably disposed at the end of the connecting portion 121 and the protrusion 122 to keep the unmanned forklift stable and prevent it from wobbling when moving. In other embodiments, the wheel 130 may also protrude from the bottom surface of the protrusion 122.

[0047] Please refer to Figure 9 The lifting drive mechanism 400 is located on the mast assembly 200 and is used to drive the forks 300 in the second direction (i.e., Figure 9 (As shown in the Y direction) Lifting and lowering motion.

[0048] Specifically, the mast assembly 200 includes a first mast 210, and the lifting drive mechanism 400 includes a first lifting drive mechanism 410. The first lifting drive mechanism 410 includes a first fixed part 411 and a first movable part 412. The first fixed part 411 is fixed to the first mast 210, and the first movable part 412 is connected to the forks 300 via a chain (not shown in the figure). The first movable part 412 can move up and down relative to the first fixed part 411, thereby driving the forks 300 along the second direction (i.e., Figure 9 (As shown in the Y direction) Lifting and lowering motion.

[0049] Please refer to Figure 4 The first detection device 500 is disposed on the mast assembly 200 to form a first detection plane 501. The first detection plane 501 extends in a generally horizontal direction, and the direction of the lifting and lowering movement of the forks 300 relative to the vehicle body 100 is generally perpendicular to the first detection plane 501.

[0050] For details, please refer to Figure 2 The first detection device 500 includes a first detector 510, a first adjusting seat 520 and a first mounting seat 530. The first detector 510 is rotatably mounted on the first mounting seat 530, the first mounting seat 530 is slidably connected to the first adjusting seat 520, and the first adjusting seat 520 is fixedly mounted on the first gantry 210.

[0051] It should be noted that the first detector 510 is capable of emitting laser light, and the first detector 510 rotates and scans relative to the first mounting base 530 to form a detection plane 501.

[0052] In some embodiments, the first mounting base 530 has a mounting hole (not shown in the figure), and the first adjusting base 520 has a waist-shaped hole 540. The waist-shaped hole 540 is inclined relative to the horizontal plane. A first pin (not shown in the figure) passes through the mounting hole and is partially exposed outside the mounting hole. The partially exposed pin is slidably disposed in the waist-shaped hole 540, so that the position of the first mounting base 530 is adjustable, thereby facilitating the adjustment of the position of the first detector 510. When the height and horizontal position of the first detector 510 are not appropriate or the first detection plane 501 is skewed, the position of the first mounting base 530 can be adjusted to adjust the first detector 510. In other embodiments, the first adjusting base 520 and the first mounting base 530 can also be rotatably connected by a hinge or latch.

[0053] In some embodiments, please refer to Figure 2The first mounting base 530 includes a first side plate 531, a second side plate 532, and a base plate 533. The first side plate 531 and the second side plate 532 are both perpendicularly connected to the base plate 533. The base plate 533 is fixedly connected to the first gantry 210. There are two first side plates 531 arranged opposite each other, and the first mounting base 530 is located between the two first side plates 531. There are also two second side plates 532 arranged opposite each other, with the two second side plates 532 respectively covering the top and bottom sides of the first mounting base 530, providing dust and water protection for the first detector 510. In other embodiments, the first side plate 531, the second side plate 532, and the base plate 533 can be connected at other included angles, or the first detector 510 can be directly rotatably connected to the base plate 533.

[0054] Furthermore, the aforementioned unmanned forklift also includes a control box 502. The controller is located inside the control box 502 and is electrically connected to the first detection device 500. When the forks 300 lift the cargo 20 so that the cargo 20 touches the first detection plane 501, the first detection device 500 sends a first detection signal to the controller. The controller obtains the height H of the cargo 50 based on the first detection signal sent by the first detection device 500.

[0055] To facilitate understanding, the following will combine... Figure 5 Please provide an explanation.

[0056] The preset height H1 of the first detection device 500 is a fixed value. When the fork 300 drives the cargo 20 to rise and fall to the triggering first detection plane 501, the fork 300 stops rising and falling. At this time, the lifting height H2 of the fork 300 can be obtained by the controller. The height H of the cargo 20 is the difference between H1 and H2. The height H of the cargo 20 is easy to obtain, simple to operate, and low in cost. It can effectively avoid the problem that the cargo 20 is too tall to be placed in the container.

[0057] Furthermore, the controller can set the preset size of the container and control the movement of the forks 300 according to the height of the acquired goods 20, so that the forks 300 place the goods 20 into the container with a preset size that is at least greater than the height of the goods 20.

[0058] To be precise, when the height of the goods 20 is greater than the height of the container, the controller can know the height of the goods 20 in advance and thus control the forks 300 to stop placing the goods 20 into the container. For example, it can issue a buzzer warning or select a container with a preset size larger than the goods for storage, so as to avoid the goods 20 from colliding with the container or being unable to be placed into the container due to excessive height.

[0059] Please refer to Figure 1The aforementioned unmanned forklift also includes a second detection device 600. The second detection device 600 is provided on opposite sides of the vehicle body 100 to form parallel second detection planes 601 on both sides of the vehicle body 100. The second detection planes 601 extend approximately vertically and are approximately perpendicular to the first detection plane 501.

[0060] For details, please refer to Figure 3 The second detection device 600 includes a second detector 610, a second adjusting seat 620 and a second mounting seat 630. The second detector 610 is rotatably mounted on the second mounting seat 630, the second mounting seat 630 is slidably connected to the second adjusting seat 620, and the second adjusting seat 620 is fixedly mounted on the first gantry 210.

[0061] It should be noted that the second detector 610 is capable of emitting laser light, and the second detector 610 rotates and scans relative to the second mounting base 630 to form a second detection plane 601.

[0062] Since the assembly methods of the second adjustment seat 610, the second mounting seat 620 and the second detector 630 in the second detection device 600 are similar to those of the first adjustment seat 520, the first mounting seat 530 and the first detector 510 in the first detection device 500, they will not be described in detail here.

[0063] Furthermore, the controller is electrically connected to the second detection device 600. When the forks 300 move the cargo 20 to make the cargo 20 touch the second detection plane 601, the second detection device 600 sends a second detection signal to the controller. The controller obtains the width W of the cargo 20 based on the second detection signal sent by the second detection device 600 located on both sides of the vehicle body 100.

[0064] To facilitate understanding, the following will combine... Figure 7 To clarify, in this diagram, there are two second detection devices 600, and the two second detection devices 600 are located on opposite sides of the vehicle body 100.

[0065] In some embodiments, the forks 300 are located between two opposing second detection devices 600, and the forks 300 first drive the cargo 20 along... Figure 7 As shown, the fork moves in the Z direction to trigger the second detection plane 601 on the left, and then the fork 300 first moves the cargo 20 along... Figure 7The fork 300 moves in the Z direction to the second detection plane 601 on the right side of the trigger. The horizontal distance W1 between the two oppositely arranged second detection devices 600 is a fixed value. The distance W2 from the second detection plane 601 on the left side of the trigger to the second detection plane 601 on the right side of the trigger is obtained by the controller. The width W of the cargo 20 is the difference between W1 and W2. The width W of the cargo 20 is easy to obtain, simple to operate, and low in cost. It can effectively avoid the problem that the cargo 20 is too wide to be placed in the container.

[0066] In other embodiments, the forks 300 are located outside the left-hand second detection device 600 or the right-hand second detection device 600, and the forks 300 drive the cargo 20 along... Figure 7 The movement in the Z direction as shown triggers the second detection plane 601 on the left and the second detection plane 601 on the right in sequence. The preset horizontal distance W1 between the two oppositely arranged second detection devices 600 is a fixed value. The distance W2 from triggering the second detection plane 601 on the left to triggering the second detection plane 601 on the right is the fork 300. The width W of the cargo 20 is the difference between W1 and W2.

[0067] Furthermore, the controller can set the preset size of the container and control the movement of the forks 300 according to the width of the acquired goods 20, so that the forks 300 place the goods 20 into the container with a preset size that is at least larger than the width of the goods 20.

[0068] To be precise, when the width of the cargo 20 is greater than the width of the container, the controller can know the width of the cargo 20 in advance and thus control the forks 300 to stop placing the cargo 20 into the container. For example, it can issue a buzzer or select a container with a preset size larger than the cargo for storage, so as to avoid the cargo 20 from colliding with the container or being unable to be placed into the container due to being too wide.

[0069] Furthermore, to make the lifting height adjustment range of the forks 300 wider and more precise, please refer to... Figure 9 The mast assembly 200 also includes a second mast 220 and a third mast 230, which are capable of two-stage lifting movements. The aforementioned unmanned forklift also includes a second lifting drive mechanism 420. The forks 300 are slidably connected to the third mast 230, and the second mast 220 is slidably connected between the third mast 230 and the first mast 210. The first lifting drive mechanism 410 can drive the forks 300 along a second direction (along...). Figure 9 The second lifting drive mechanism 420 can drive the second mast 220 and the third mast 230 to move up and down in the second direction (as shown in the Y direction), thereby driving the forks 300 to move up and down in the second direction.

[0070] Specifically, the second lifting drive mechanism 420 includes a second fixed part 421 and a second movable part 422. The second fixed part 421 is fixed to the first gantry 210, and the second movable part 422 is connected to the second gantry 220 to drive the second gantry 220 and the third gantry 230 along the second direction (i.e., Figure 9 The motion is raised and lowered in the Y direction (as shown).

[0071] In some embodiments, please refer to Figure 8 The forks 300 and the third mast 230 are slidably connected via the first pulley 310. Please refer to the reference. Figure 10 The first gantry 210 and the second gantry 220 are slidably connected via the second pulley 221, and the second gantry 220 and the third gantry 230 are slidably connected via the third pulley 231. The control unit is connected to the first pulley 210, the second pulley 221, and the third pulley 231 to control the lifting speed. The second gantry 220 and the third gantry 230 can perform two-stage lifting movements. For example, the control unit can control the rotation speed of the second pulley 221 and the third pulley 231. When the rotation speeds of the second pulley 221 and the third pulley 231 are the same, the second gantry 220 and the third gantry 230 lift synchronously in the second direction at the same speed; when the rotation speeds of the second pulley 221 and the third pulley 231 are different, the second gantry 220 and the third gantry 231 lift synchronously in the second direction at different speeds.

[0072] In other embodiments, the forks 300 and the third mast 230, the first mast 210 and the second mast 220, and the second mast 220 and the third mast 230 can all be slidably connected by sliding rails and sliders.

[0073] In some embodiments, both the first lifting drive mechanism 410 and the second lifting drive mechanism 420 are hydraulic cylinders. In other embodiments, the first lifting drive mechanism 410 and the second lifting drive mechanism 420 may also be motors, cylinders, or lead screw assemblies.

[0074] Please refer to Figure 8 The aforementioned unmanned forklift also includes a side-shift frame 700 and a fork carriage 800. The side-shift frame 700 is slidably connected to the first mast 210, and the fork carriage 800 is slidably connected to the side-shift frame 700. The forks 300 are fixed to the fork carriage 800 so that the forks 300 can move relative to the side-shift frame 700 in a third direction (i.e., Figure 8 (As shown in the Z direction) Horizontal movement.

[0075] In some embodiments, the side shifter 700 is provided with a rod 710, which is hollow. A hydraulic cylinder 810 is provided on the fork carriage 800, and the hydraulic cylinder 810 passes through the rod 710, so that the forks 300 can move relative to the side shifter 700 in a third direction (i.e., ...). Figure 8The goods are moved laterally (in the Z direction as shown) to facilitate picking up the goods 20.

[0076] In some embodiments, the number of forks 300 is two and they are spaced apart, and the distance between the two forks 300 is not adjustable. In other embodiments, a cylinder can be provided between the two forks 300, and the cylinder can drive the two forks 300 to move closer or further apart to change the distance between the two forks 300, so as to facilitate the forks 300 to pick up goods 20 of different sizes and expand the application range of the unmanned forklift.

[0077] In some embodiments, the forks 300 have tapered ends to facilitate picking up goods 20. In other embodiments, the forks 300 may also have W-shaped ends. In some embodiments, the length of the forks 300 is not adjustable. In other embodiments, the forks 300 may also be telescopic to accommodate the picking needs of goods 20 of different sizes.

[0078] The aforementioned unmanned forklift is equipped with a first detection device 500 and a second detection device 600. The forks 300 drive the cargo 20 to trigger the first detection plane 501 and / or the second detection plane 601, thereby calculating the height H and / or width W of the cargo 20. This prevents the cargo 20 from being too tall or too wide to be placed in the container or from colliding with the container, thus improving the storage efficiency of the cargo 20. The forklift is easy to operate, has low cost, and a reasonable structural design.

[0079] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0080] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. An unmanned forklift, characterized in that, include: Vehicle body; Forks are used to support goods. A lifting drive mechanism is used to drive the lifting and lowering movement of the forks; The mast assembly is connected to the vehicle body and drives the forks to move horizontally relative to the vehicle body; A first detection device is disposed on the mast assembly to form a first detection plane, the first detection plane extending generally in a horizontal direction, and the direction of the lifting and lowering movement of the forks relative to the vehicle body is generally perpendicular to the first detection plane. as well as The controller is electrically connected to the first detection device. When the forks lift the cargo so that the cargo touches the first detection plane, the first detection device sends a first detection signal to the controller, and the controller obtains the height of the cargo based on the first detection signal sent by the first detection device. The first detection device includes a first adjusting seat, a first mounting seat, and a first detector. The first detector is rotatably mounted on the first mounting seat, the first mounting seat is slidably connected to the first adjusting seat, and the first adjusting seat is fixed to the gantry assembly. It also includes a second detection device, which is provided on opposite sides of the vehicle body to form parallel second detection planes on both sides of the vehicle body. The second detection planes extend approximately vertically and are approximately perpendicular to the first detection plane. The controller is electrically connected to the second detection device, and when the forks move the cargo so that the cargo touches the second detection plane, the second detection device sends a second detection signal to the controller. The controller obtains the width of the cargo based on the second detection signal sent by the second detection devices located on both sides of the vehicle body. The first mounting base is provided with a mounting hole, and the first adjusting base is provided with a waist-shaped hole. The waist-shaped hole is inclined relative to the horizontal plane. The first pin passes through the mounting hole and is partially exposed outside the mounting hole. The first pin partially exposed outside the mounting hole is slidably disposed in the waist-shaped hole so that the position of the first mounting base is adjustable.

2. The unmanned forklift according to claim 1, characterized in that, The first adjustment seat includes a first side plate and a second side plate. There are two first side plates arranged opposite each other. The first mounting seat is located between the two first side plates. There are two second side plates, and the two second side plates cover the top and bottom sides of the first mounting seat, respectively.

3. The unmanned forklift according to claim 1, characterized in that, The second detection device includes a second adjusting seat, a second mounting seat, and a second detector. The second detector is rotatably mounted on the second mounting seat, the second mounting seat is slidably connected to the second adjusting seat, and the second adjusting seat is fixed to the gantry assembly.

4. The unmanned forklift according to claim 3, characterized in that, It also includes at least one of the following: The first detector is capable of emitting a laser, and the first detector rotates relative to the first mounting base to scan and form the first detection plane; and / or, The second detector is capable of emitting a laser, and the second detector rotates and scans relative to the second mounting base to form the second detection plane.

5. The unmanned forklift according to claim 1, characterized in that, The mast assembly includes a first mast and a second mast. The first mast is connected to the vehicle body, the forks are slidably connected to the second mast, the second mast is connected to the first mast, and the first detection device is disposed on the first mast.

6. The unmanned forklift according to claim 5, characterized in that, The gantry assembly further includes a third gantry, the forks are slidably connected to the third gantry, and the third gantry is slidably connected to the second gantry, such that the second gantry is located between the first gantry and the third gantry, and the second gantry and the third gantry are capable of two-stage lifting movements.

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