Unmanned guided vehicle collision avoidance device and collision avoidance method

Abstract

The present invention discloses a collision avoidance device for an unmanned guided vehicle, comprising a cage controller, a platform controller, a first and a second sensing device, wherein the cage controller is mounted on the cage and comprises a wireless transmission circuit, the platform controller is mounted on the platform and comprises a control drive circuit and a wireless receiving circuit, the first sensing device is mounted on the front of the platform, the second sensing device is mounted on the rear of the platform or / and the side of the vehicle body, the wireless transmission circuit is used to send an identification signal with size information of the cage, the control drive circuit controls the first or / and the second sensing device to start according to the identification signal received by the wireless receiving circuit, and controls the action of the power system according to the detection signal of the first or / and the second sensing device, because different sensing devices can be started according to different cage sizes, the sensing range of the sensing device is changed according to the cage size, thereby avoiding collision and improving safety. The present invention also discloses a collision avoidance method for an unmanned guided vehicle.

Description

Technical Field

[0001] The present invention relates to the field of unmanned transport technology, and in particular to a collision avoidance device and a collision avoidance method for an unmanned transport vehicle. Background Art

[0002] Unmanned guided vehicles are usually used in conjunction with cages to transport goods, and the platform and cage of the unmanned guided vehicles are mostly connected by a detachable structure. Therefore, when loading goods, the empty cage can be directly unloaded from the platform and the cage loaded with goods can be moved onto the platform. When the unmanned guided vehicle moves to the unloading position, the cage loaded with goods can be directly unloaded from the platform, so that the unmanned guided vehicle can be used with various cages, making it more flexible to use.

[0003] Usually, the size of the platform of an unmanned guided vehicle is much smaller than the size of the cage. During the operation of the unmanned guided vehicle, whether the platform carries the cage and the size of the cage have a significant impact on the collision avoidance path of the unmanned guided vehicle. At present, in order to prevent the unmanned guided vehicle from colliding with other personnel, equipment or obstacles during operation, a collision sensing device is usually set on the platform and / or the cage. When the collision sensing device is collided, the controller will control the unmanned guided vehicle to stop running to avoid the cargo falling off or the cargo and the unmanned guided vehicle being damaged; however, this existing method cannot enable the unmanned guided vehicle to avoid obstacles in advance to avoid collisions, and it cannot adjust the sensing range according to different cage sizes.

[0004] Therefore, it is necessary to provide an unmanned guided vehicle collision avoidance device and a collision avoidance method that can adjust the sensing range according to different cage sizes to avoid collisions, so as to solve the problems existing in the above-mentioned prior art. Summary of the invention

[0005] The object of the present invention is to provide an unmanned guided vehicle collision avoidance device capable of adjusting a sensing range according to different cage sizes.

[0006] The object of the present invention is to provide a collision avoidance method for an unmanned guided vehicle capable of adjusting a sensing range according to different cage sizes.

[0007] To achieve the above-mentioned purpose, the technical solution of the present invention is: to provide an unmanned guided vehicle collision avoidance device, the unmanned guided vehicle collision avoidance device is suitable for an unmanned guided vehicle with a platform and a cage, and includes a cage controller, a platform controller, a first sensing device and a second sensing device; wherein the cage controller is installed on the cage and includes a wireless transmitting circuit, and the wireless transmitting circuit is used to send an identification signal with size information of the cage; the first sensing device is installed on the front of the platform; the second sensing device is installed on the rear of the platform or / and the side of the body; the platform controller is installed on the platform and includes a control drive circuit and a wireless receiving circuit electrically connected thereto, the control drive circuit is also electrically connected to the first sensing device and the second sensing device, the wireless receiving circuit is used to receive the identification signal sent by the wireless transmitting circuit, the control drive circuit controls the first sensing device or / and the second sensing device to act according to the identification signal received by the wireless receiving circuit, and controls the power system of the unmanned guided vehicle to act according to the detection signal of the first sensing device or / and the second sensing device.

[0008] Preferably, the present invention has a plurality of the second sensing devices, each of which is installed at the rear of the vehicle and the side of the vehicle body of the vehicle platform respectively.

[0009] Preferably, the detection range of the second sensing device is adjustable. When the wireless receiving circuit receives the identification signal, the control driving circuit controls the second sensing device to start and controls the second sensing device to adjust its detection range according to the size of the cage. When the wireless receiving circuit does not receive the identification signal, the control driving circuit controls the second sensing device to shut down.

[0010] Preferably, the control drive circuit comprises a relay switch arranged on a power supply circuit of the second sensing device, and the control drive circuit controls the second sensing device to be turned on or off by turning the relay switch on or off.

[0011] Preferably, the control driving circuit adjusts the detection range of the second sensing device by controlling the output power thereof.

[0012] Preferably, the vehicle station controller also includes a vehicle-mounted power supply for supplying power to the wireless receiving circuit, the first sensing device, and the second sensing device.

[0013] Preferably, the first sensing device is a camera with a wide-angle lens.

[0014] Preferably, the second sensing device is an infrared sensor.

[0015] Compared with the prior art, the unmanned guided vehicle collision avoidance device of the present invention installs the first sensing device and the second sensing device on the platform of the unmanned guided vehicle respectively, and the cage controller can send an identification signal with the size information of the cage. Therefore, the platform controller determines whether to carry the cage and the size of the cage according to the identification signal sent by the cage controller, and controls the first sensing device and / or the second sensing device to operate respectively according to whether the cage is carried and the size of the cage, and controls the power system of the unmanned guided vehicle to stop when the first sensing device and / or the second sensing device detects an obstacle, so that the unmanned guided vehicle can avoid the obstacle to avoid collision and prevent damage to the unmanned guided vehicle and the cargo thereon. Since different sensing devices can be activated according to different cage sizes, the sensing range of the sensing device is changed according to the cage size, thereby improving the safety of the unmanned guided vehicle.

[0016] Correspondingly, the present invention also provides a collision avoidance method for an unmanned guided vehicle, which is applicable to an unmanned guided vehicle having a platform and a cage, wherein the platform is provided with a first sensing device and a second sensing device, and the method comprises the following steps:

[0017] Detecting whether an identification signal having the size information of the cage is obtained;

[0018] Controlling the first sensing device and / or the second sensing device to act according to the identification signal;

[0019] The detection signal of the first sensing device or / and the second sensing device is obtained and it is determined whether there is an obstacle according to the detection signal, and the power system of the unmanned guided vehicle is controlled to stop moving when there is an obstacle.

[0020] Preferably, the “controlling the first sensing device and / or the second sensing device to act according to the identification signal” comprises the following steps:

[0021] If the identification signal is not received, the second sensing device is controlled to be turned off; if the identification signal is received, the second sensing device is controlled to be turned on;

[0022] Determine whether the size of the cage is within a preset range based on the identification signal. If the size of the cage is within the preset range, control the second sensing device to detect within a first detection range. If the size of the cage exceeds the preset range, control the second sensing device to detect within a second detection range, wherein the second detection range is larger than the first detection range.

[0023] Preferably, in the collision avoidance method for an unmanned guided vehicle of the present invention, the first sensing device is always in an on state.

[0024] Preferably, the present invention also provides a collision avoidance method for an unmanned guided vehicle, which adjusts the detection range of the second sensing device by controlling the output power of the second sensing device.

[0025] Preferably, the present invention further provides a collision avoidance method for an unmanned guided vehicle, which controls the on / off of the power supply circuit of the second sensing device by controlling the on / off of the second sensing device.

[0026] Compared with the prior art, the unmanned guided vehicle collision avoidance method of the present invention first detects whether an identification signal with cage size information is received, then determines whether the cage is carried and the size of the cage based on the identification signal, and controls the first sensing device and / or the second sensing device to operate respectively according to whether the cage is carried and the size of the cage, and controls the power system of the unmanned guided vehicle to stop operating when the first sensing device and / or the second sensing device detects an obstacle, thereby enabling the unmanned guided vehicle to avoid obstacles to avoid collisions and prevent damage to the unmanned guided vehicle and the cargo thereon. Since different sensing devices can be activated according to different cage sizes, the sensing range of the sensing device can be changed according to the cage size, thereby improving the safety of the unmanned guided vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a structural schematic diagram of the unmanned guided vehicle of the present invention.

[0028] Figure 2 It is a structural block diagram of the collision avoidance device of the unmanned guided vehicle of the present invention.

[0029] Figure 3 It is a flow chart of the collision avoidance method of the unmanned guided vehicle of the present invention. DETAILED DESCRIPTION

[0030] Embodiments of the present invention are now described with reference to the accompanying drawings, in which like reference numerals represent like elements. The unmanned guided vehicle collision avoidance device 100 provided by the present invention is disposed between a cage frame 210 and a platform 220 of an unmanned guided vehicle 200, and is used to control the unmanned guided vehicle 200 to avoid collision according to different cage frame sizes, wherein the cage frame 210 and the platform 220 of the unmanned guided vehicle 200 are detachably connected structures.

[0031] First combine Figure 1-Figure 2As shown, the collision avoidance device 100 of the unmanned guided vehicle provided by the present invention includes a cage controller 110, a platform controller 120, a first sensing device 130 and a second sensing device 140. The first sensing device 130 is installed on the front of the platform 220 of the unmanned guided vehicle; the second sensing device 140 is installed on the rear of the platform 220 of the unmanned guided vehicle or / and the side of the vehicle body. The cage controller 110 is installed on the cage 210 and preset with the size information of the cage 210, and the size information of the cage 210 preset in the cage controller 110 set on the cages 210 of different sizes is different respectively. The cage controller 110 also includes a wireless transmission circuit 111 and a power supply 112. The wireless transmission circuit 111 is used to send an identification signal with the size information of the cage 210, and the power supply 112 is used to power the wireless transmission circuit 111. The vehicle platform controller 120 is installed on the vehicle platform 220 of the unmanned guided vehicle 200, and the vehicle platform controller 120 includes a wireless receiving circuit 121, a control driving circuit 122 and a vehicle-mounted power supply 123. The control driving circuit 122 is electrically connected to the wireless receiving circuit 121, the first sensing device 130, and the second sensing device 140 respectively. The vehicle-mounted power supply 123 is used to power the wireless receiving circuit 121, the first sensing device 130, and the second sensing device 140. The wireless receiving circuit 121 is used to receive the identification signal sent by the wireless transmitting circuit 111. The control driving circuit 122 controls the first sensing device 130 and / or the second sensing device 140 to operate according to the identification signal received by the wireless receiving circuit 121, and controls the operation of the power system of the unmanned guided vehicle 100 according to the detection signal of the first sensing device 130 and / or the second sensing device 140, so as to achieve collision avoidance of the unmanned guided vehicle 200.

[0032] Continue to view Figure 1 As shown, the present invention has a plurality of second sensing devices 140, each of which is respectively installed at the rear end and the side of the vehicle body of the platform 220 of the unmanned guided vehicle 200, and the detection range of the second sensing device 140 is adjustable. Specifically, when the platform 220 carries the cage 210, the control drive circuit 122 controls the second sensing device 140 to adjust its detection range according to the size of the cage 210. When the size of the cage 210 is small, the control drive circuit 122 controls the second sensing device 140 to detect within a relatively small detection range. When the size of the cage 210 is large, the control drive circuit 122 controls the second sensing device 140 to detect within a relatively large detection range.

[0033] In a preferred embodiment of the present invention, the control driving circuit 122 adjusts the detection range of the second sensing device 140 by controlling the output power thereof. Of course, the present invention is not limited to this adjustment method.

[0034] Continue to combine Figure 1-2As shown, in a preferred embodiment of the present invention, the first sensing device 130 is always in an on state. Because when the cage 210 is not carried on the platform 220, the size of the platform 220 itself is relatively small. At this time, only the first sensing device 130 needs to be turned on to meet the collision avoidance requirement. When the cage 210 is carried on the platform 220, since the size of the cage 210 is much larger than the size of the platform 220, the first sensing device 130 and the second sensing device 140 need to be started at the same time for detection, and the second sensing device 140 is used to assist in detecting the blind spot area that the first sensing device 130 cannot detect.

[0035] More specifically, when the cage 210 is installed on the platform 220, the wireless transmission circuit 111 of the cage controller 110 will send out an identification signal with the size information of the cage 210. After the wireless receiving circuit 121 of the platform controller 120 receives the identification signal, the control driving circuit 122 controls the second sensing device 140 to start. At this time, the first sensing device 130 detects the front area of ​​the platform 220, and the second sensing device 140 detects the rear and side areas of the platform 220. Then, the control driving circuit 122 obtains the size of the cage 210 according to the received identification signal. The size of the cage 210 is determined, and it is determined whether the size of the cage 210 is within a preset range. If so, it means that the size of the cage 210 is relatively small, and the avoidance space required by the unmanned guided vehicle 200 is small. The control driving circuit 122 controls the second sensing device 140 to detect within the first sensing range. When the size of the cage 210 exceeds the preset range, it means that the size of the cage 210 is relatively large, and the avoidance space required by the unmanned guided vehicle 200 is large. At this time, the second sensing device 140 is controlled to be adjusted to detect within the second sensing range, wherein the second sensing range is larger than the first sensing range.

[0036] When at least one of the first sensing device 130 and the second sensing device 140 detects an obstacle within its detection range, the control driving circuit 122 controls the power system of the automated guided vehicle 200 to stop according to the detection signal to prevent the automated guided vehicle 200 from colliding.

[0037] Of course, the first sensing device 130 is not limited to being always on, and can also be controlled to be on or off based on whether the identification signal emitted by the wireless transmitting circuit 111 is received. For example, when the vehicle station 220 starts working, if the identification signal of the wireless transmitting circuit 111 is not received, the first sensing device 130 is controlled to be on.

[0038] Recombination Figure 1-2As shown, in a preferred embodiment of the present invention, the control drive circuit 122 includes a relay switch disposed on the power supply circuit of the second sensing device 140. When the control drive circuit 122 receives the identification signal, the relay switch is turned on. When it does not receive the identification signal, the relay switch is turned off, thereby controlling the second sensing device 140 to be turned on or off. Alternatively, a mechanical switch may be disposed on the power supply circuit of the second sensing device 140, and the mechanical switch is disposed at an appropriate position of the vehicle platform 220. When the cage 210 is mounted on the vehicle platform 220, the mechanical switch may be touched to turn it on, thereby starting the second sensing device 140.

[0039] See also Figure 2 As shown, in a preferred embodiment of the present invention, when the cage 210 is installed on the platform 220, the wireless transmitting circuit 111 of the cage controller 110 and the wireless receiving circuit 121 of the platform controller 120 are positioned relative to each other, and the wireless receiving circuit 121 can sense and receive the identification signal emitted by the wireless transmitting circuit 111; wherein, the transmitting unit of the wireless transmitting circuit 111 is an electromagnetic induction coil or other antenna structure, and the receiving unit of the wireless receiving circuit 121 is an electromagnetic induction coil or other antenna structure. The structure of this scheme is simple. Only when the wireless receiving circuit 121 and the wireless transmitting circuit 111 are positioned relative to each other, can the wireless receiving circuit 121 receive the identification signal, so that a platform 220 can only receive the identification signal emitted by the cage 210 carried thereon, thereby preventing misoperation.

[0040] In combination with the above, the first sensing device 130 in the present invention is preferably a camera with a wide-angle lens, and the second sensing device 140 is preferably an infrared sensor, but the present invention is not limited thereto, and other detection elements may also be used to achieve detection.

[0041] Combine again below Figure 1-2 As shown, the working principle and process of the unmanned guided vehicle collision avoidance device 100 of the present invention are explained.

[0042] In the present invention, the first sensing device 130 is always in an on state. Therefore, when the platform 220 of the unmanned guided vehicle 200 does not carry the cage 210, the platform controller 120 cannot receive the identification signal with the size information of the cage 210 sent by the cage controller 110. At this time, the platform controller 120 only obtains the detection signal of the first sensing device 130. When the first sensing device 130 detects an obstacle, the platform controller 120 controls the power system of the platform 220 to stop moving, thereby preventing the platform 220 from colliding with the obstacle.

[0043] After the cage 210 is installed on the vehicle 220, the wireless transmission circuit 111 of the cage controller 110 will send an identification signal with the size information of the cage 210. After the wireless receiving circuit 121 of the vehicle controller 120 receives the identification signal, the control driving circuit 122 controls the second sensing device 140 to start, so that the first sensing device 130 and the second sensing device 140 can detect at the same time; then, the control driving circuit 122 obtains the size of the cage 210 according to the received identification signal and determines whether the size of the cage 210 is within a preset range. If it is within the preset range, the control driving circuit 122 controls the second sensing device 140 to detect within the first sensing range. When the size of the cage 210 exceeds the preset range, the control driving circuit 122 controls the second sensing device 140 to adjust to the second sensing range for detection, wherein the second sensing range is larger than the first sensing range; when at least one of the first sensing device 130 and the second sensing device 140 detects an obstacle, the vehicle controller 120 controls the power system of the vehicle 220 to stop.

[0044] In summary, since the unmanned guided vehicle collision avoidance device 100 of the present invention installs the first sensing device 130 and the second sensing device 140 on the unmanned guided vehicle 200 respectively, and the cage controller 110 can send an identification signal with the size information of the cage 210, therefore, the platform controller 120 determines whether to carry the cage 210 and the size of the cage 210 according to the identification signal sent by the cage controller 110, and controls the first sensing device 130 and / or the second sensing device 140 to start according to whether the cage 210 is carried and the size of the cage 210, and controls the power system of the unmanned guided vehicle 200 to stop when the first sensing device 130 and / or the second sensing device 140 detects an obstacle, so that the unmanned guided vehicle 200 can avoid the obstacle to avoid the collision, and prevent the unmanned guided vehicle 200 and the cargo thereon from being damaged. Since different sensing devices can be started according to different cage sizes, the sensing range of the sensing device is changed according to the cage size, thereby improving the safety of the unmanned guided vehicle 200.

[0045] Combine the following Figure 1 , Figure 3 As shown, the present invention also provides an unmanned guided vehicle collision avoidance method, which is used to control an unmanned guided vehicle 200 to achieve collision avoidance, wherein the unmanned guided vehicle 200 includes a detachably connected vehicle platform 220 and a cage frame 210, and the vehicle platform 220 is provided with a first sensing device 130 and a second sensing device 140, the first sensing device 130 is installed at the front of the vehicle platform 220, and the second sensing device 140 has multiple and is respectively installed at the rear of the vehicle platform 220 and both sides of the vehicle body.

[0046] like Figure 3As shown, the unmanned guided vehicle collision avoidance method provided by the present invention comprises the following steps:

[0047] S01: Detect whether an identification signal with cage size information is obtained, if so, proceed to step S02, if not, proceed to step S07;

[0048] S02: Control the second sensing device to start;

[0049] S03: judging whether the size of the cage is within a preset range according to the recognition signal, if so, proceeding to step S04, if not, proceeding to step S05;

[0050] S04: controlling the second sensing device to detect within a first detection range;

[0051] S05: controlling the second sensing device to detect within a second detection range, wherein the second detection range is larger than the first detection range;

[0052] S06: Acquire detection information of the second sensing device;

[0053] S07: Acquire a detection signal of a first sensing device;

[0054] S08: judging whether there is an obstacle according to the detection signal of the first sensing device or / and the second sensing device, if yes, proceeding to step S09, otherwise, returning to step S08;

[0055] S09: Control the power system of the unmanned guided vehicle to stop.

[0056] More preferably, in the collision avoidance method of the automated guided vehicle of the present invention, the power supply circuit of the second sensing device 140 is controlled to be turned on or off by controlling the conduction and disconnection of the power supply circuit of the second sensing device 140 .

[0057] In addition, in a preferred embodiment of the unmanned guided vehicle collision avoidance method of the present invention, the first sensing device 130 is always in an on state to simplify the control of the method. Of course, it is not limited to this method. The first sensing device 130 can also be controlled to be on or off according to whether an identification signal with cage size information is received. For example, when the platform starts working, if no cage size information is received, the first sensing device is controlled to be on.

[0058] In a preferred implementation of the collision avoidance method for an automated guided vehicle of the present invention, the detection range of the second sensing device 140 is adjusted by controlling the output power thereof, but the method is not limited to this.

[0059] In addition, combined Figure 1-2As shown, in the unmanned guided vehicle collision avoidance method involved in the present invention, a cage controller 110 is provided on the cage 210 of the unmanned guided vehicle 200, and the cage controller 110 is preset with size information of the cage 210, and the size information of the cage 210 preset in the cage controller 110 set on cages 210 of different sizes is respectively different.

[0060] In summary, according to the collision avoidance method for the unmanned guided vehicle of the present invention, it is first detected whether an identification signal with cage size information is received, and then the size of the cage is determined according to the identification signal, and the first sensing device 130 and / or the second sensing device 140 are controlled to start according to whether the cage is carried and the size of the cage, and the power system of the unmanned guided vehicle 200 is controlled to stop when the first sensing device 130 and / or the second sensing device 140 detects an obstacle, so that the unmanned guided vehicle 200 can avoid obstacles, avoid collisions, and prevent damage to the unmanned guided vehicle 200 and the cargo thereon. Since different sensing devices can be started according to different cage sizes, the sensing range of the sensing device is changed according to the cage size, thereby improving the safety of the unmanned guided vehicle.

[0061] The structures and installation methods of other parts of the unmanned guided vehicle 200 and the cage 210 involved in the present invention are conventional methods well known to ordinary technicians in the field, and will not be described in detail here.

[0062] The above disclosure is only the preferred embodiment of the present invention, which certainly cannot be used to limit the scope of rights of the present invention. Therefore, equivalent changes made according to the scope of the patent application of the present invention are still within the scope covered by the present invention.

Claims

1. An unmanned guided vehicle collision avoidance device, applicable to an unmanned guided vehicle having a platform and a cage, characterized in that: include: A cage controller, which is installed on the cage and includes a wireless transmission circuit and a power supply, wherein the wireless transmission circuit is used to transmit an identification signal having size information of the cage, and the power supply is used to supply power to the wireless transmission circuit; A first sensing device, which is installed on the front of the vehicle platform; A plurality of second sensing devices, each of which is installed at the rear of the vehicle and / or the side of the vehicle body; A vehicle platform controller, which is installed on the vehicle platform and includes a control drive circuit and a wireless receiving circuit electrically connected thereto, wherein the control drive circuit is also electrically connected to the first sensing device and the second sensing device, and the wireless receiving circuit is used to receive an identification signal sent by the wireless transmitting circuit, and the control drive circuit controls the first sensing device and / or the second sensing device to operate according to the identification signal received by the wireless receiving circuit, and controls the operation of the power system of the unmanned guided vehicle according to the detection signal of the first sensing device and / or the second sensing device. The detection range of the second sensing device is adjustable. When the wireless receiving circuit receives the identification signal, the control driving circuit controls the second sensing device to start and controls the second sensing device to adjust its detection range according to the size of the cage. When the wireless receiving circuit does not receive the identification signal, the control driving circuit controls the second sensing device to shut down.

2. The unmanned guided vehicle collision avoidance device according to claim 1, characterized in that: The control driving circuit includes a relay switch arranged on a power supply circuit of the second sensing device. The control driving circuit controls the second sensing device to be turned on or off by turning the relay switch on or off.

3. The unmanned guided vehicle collision avoidance device according to claim 1, characterized in that: The control driving circuit adjusts the detection range of the second sensing device by controlling the output power thereof.

4. The unmanned guided vehicle collision avoidance device according to claim 1, characterized in that: The vehicle station controller also includes a vehicle-mounted power supply for supplying power to the wireless receiving circuit, the first sensing device, and the second sensing device.

5. The unmanned guided vehicle collision avoidance device according to claim 1, characterized in that: The first sensing device is a camera with a wide-angle lens.

6. The unmanned guided vehicle collision avoidance device according to claim 1 or 2, characterized in that: The second sensing device is an infrared sensor.

7. A collision avoidance method for an unmanned guided vehicle, applicable to an unmanned guided vehicle having a platform and a cage, wherein the platform is provided with a first sensing device and a plurality of second sensing devices, characterized in that: The method comprises the following steps: Detecting whether an identification signal having the size information of the cage is obtained; Controlling the first sensing device and / or the second sensing device to act according to the identification signal; acquiring detection signals of the first sensing device and / or the second sensing device and determining whether an obstacle exists according to the detection signals, and controlling the power system of the unmanned guided vehicle to stop moving when an obstacle exists, Among them, each second sensing device is respectively installed on the rear end and / or the side of the vehicle body of the vehicle platform, and the detection range of the second sensing device is adjustable. When the wireless receiving circuit receives the identification signal, the control driving circuit controls the second sensing device to start and controls the second sensing device to adjust its detection range according to the size of the cage frame. When the wireless receiving circuit does not receive the identification signal, the control driving circuit controls the second sensing device to turn off.

8. The method for avoiding collision of an unmanned guided vehicle according to claim 7, characterized in that: The step of controlling the first sensing device and / or the second sensing device to act according to the identification signal comprises the following steps: If the identification signal is not received, the second sensing device is controlled to be turned off; if the identification signal is received, the second sensing device is controlled to be turned on; Determine whether the size of the cage is within a preset range based on the identification signal. If the size of the cage is within the preset range, control the second sensing device to detect within a first detection range. If the size of the cage exceeds the preset range, control the second sensing device to detect within a second detection range, wherein the second detection range is larger than the first detection range.

9. The method for avoiding collision of an unmanned guided vehicle according to claim 8, characterized in that: The first sensing device is always in an on state.

10. The method for avoiding collision of an unmanned guided vehicle according to claim 8, characterized in that: The detection range of the second sensing device is adjusted by controlling the output power thereof.

11. The method for avoiding collision of an unmanned guided vehicle according to claim 8, characterized in that: The second induction device is turned on or off by controlling the conduction and disconnection of the power supply circuit of the second induction device.

Images