Vehicle body and pallet obstacle detection device of four-way shuttle vehicle and working method thereof

Abstract

This invention discloses a four-way shuttle vehicle body and pallet obstacle avoidance detection device and its working method, including a four-way shuttle vehicle, a pallet carrying goods, and crisscrossing Y-axis and X-axis tracks; the four-way shuttle vehicle can run along the track directions of the Y-axis and X-axis tracks; shelf supports are provided on both sides of each Y-axis track, and pallets are supported on the shelf supports; X+ and X-axis distance sensors are respectively provided on the front and rear sides of the four-way shuttle vehicle body in the X direction; Y+ and Y-axis distance sensors are respectively provided on the front and rear sides of the four-way shuttle vehicle body in the Y direction; pallet Y+ and Y-axis distance detection sensors are respectively provided on the front and rear sides of the lifting structure of the four-way shuttle vehicle in the Y direction; the distance between the four-way shuttle vehicle and obstacles is detected, avoiding collisions between the four-way shuttle vehicle and obstacles or pallets on the shelf supports.

Description

Technical Field

[0001] This invention relates to the field of warehouse transport vehicles, and more particularly to a vehicle body and pallet obstacle avoidance detection device for a four-way shuttle vehicle. Background Technology

[0002] Four-way shuttles are a relatively new product in palletized warehousing and logistics. Due to the exceptionally complex operating environment of four-way shuttles on racks, software-based scheduling systems alone cannot prevent collisions between vehicles, especially at intersections. Furthermore, when the inventory management system malfunctions, the correct pallet placement at each location cannot be guaranteed. This can lead to collisions between goods when the four-way shuttle arrives at the storage location with its pallet, causing damage to the vehicle and potentially even threatening to drop the vehicle and goods off the racks. Summary of the Invention

[0003] Purpose of the invention: In order to overcome the shortcomings of the prior art, the present invention provides a vehicle body and pallet obstacle avoidance detection device and its working method for a four-way shuttle, which can detect the distance between the four-way shuttle and other obstacles in the direction of operation of the four-way shuttle, as well as detect the pallets on the rack support of the Y-axis track; avoid collisions between the four-way shuttle and other four-way shuttles, and avoid collisions between the four-way shuttle and the pallets on the rack support.

[0004] Technical Solution: To achieve the above objectives, the present invention provides a four-way shuttle vehicle body and pallet obstacle avoidance detection device, comprising a four-way shuttle vehicle, a pallet carrying goods, and crisscrossing Y-axis and X-axis tracks; the four-way shuttle vehicle can run along the track directions of the Y-axis and X-axis tracks; rack supports are provided on both sides of each Y-axis track, and pallets are supported on the rack supports; X+ direction distance sensors and X- direction distance sensors are respectively provided on the front and rear sides of the four-way shuttle vehicle body in the X direction; Y+ direction distance sensors and Y- direction distance sensors are respectively provided on the front and rear sides of the four-way shuttle vehicle body in the Y direction.

[0005] The X+ direction distance sensor, X- direction distance sensor, Y+ direction distance sensor, and Y- direction distance sensor respectively detect the distance between the four-way shuttle and the obstacle in the direction of the four-way shuttle's operation. When the distance reaches the first set value, the four-way shuttle decelerates; when the distance reaches the second set value, the four-way shuttle stops.

[0006] Furthermore, when the four-way shuttle is running 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 is running 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.

[0007] Furthermore, the four-way shuttle is equipped with a lifting structure that can be raised and lowered; the lifting structure is equipped with a pallet Y+ distance detection sensor and a Y- distance detection sensor on the front and rear sides in the Y direction, respectively; when the lifting structure is not raised, the four-way shuttle can freely shuttle under the pallet as it runs along the Y and X tracks; when the lifting structure is raised, the Y+ distance detection sensor and the Y- distance detection sensor are at the same height as the pallet supported on the shelf support.

[0008] 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.

[0009] Furthermore, it includes a four-way shuttle obstacle avoidance detection circuit, which comprises 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 consists 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 terminals of the discharge port of the battery in the battery module are electrically connected to the positive and negative terminals of the DC IN terminal of the PLC-AP power supply switch module in the PLC control module, respectively; the positive and negative terminals of the DC OUT terminal of the PLC-AP power supply switch module are electrically connected to the positive and negative terminals of the power supply of the Y+ distance detection sensor, Y- distance detection sensor, Y+ direction distance sensor, Y- direction distance sensor, X+ direction distance sensor, and X- direction distance sensor.

[0012] Furthermore, the working method of the obstacle avoidance detection device for the four-way shuttle vehicle body and pallet includes the following: when the lifting structure of the four-way shuttle vehicle is not lifted, and the four-way shuttle vehicle is running on the X-direction track or the Y-direction track, the X+ direction distance sensor and the X-direction distance sensor detect the distance between the four-way shuttle vehicle and the obstacle on the X-direction track in real time, or the Y+ direction distance sensor and the Y-direction distance sensor detect the distance between the four-way shuttle vehicle and the obstacle on the X-direction track in real time; when the distance between the four-way shuttle vehicle and the obstacle is detected to reach a first set value, the four-way shuttle vehicle begins to decelerate; when the distance between the four-way shuttle vehicle and the obstacle is detected to reach a second set value, the speed of the four-way shuttle vehicle is reduced to 0.

[0013] When the lifting structure of the four-way shuttle lifts the pallet, as the shuttle runs on the X-axis track, the Y+ and Y-distance detection sensors on the lifting structure continuously monitor the distance between the pallet on the shelf support of each Y-axis track and the four-way shuttle. Based on the detected distance, the number of pallets on the shelf support is obtained, and this is used to determine whether there is any abnormality in the pallets with goods placed on the shelf support. When the four-way shuttle runs on the Y-axis track, it can also detect whether there is any abnormality in the pallets placed on the shelf support. The Y+ and Y-distance detection sensors continuously monitor the distance between the pallet on the shelf support of each Y-axis track and the four-way shuttle. When the detected distance reaches a first set value, the four-way shuttle begins to decelerate. When the detected distance reaches a second set value, the four-way shuttle stops.

[0014] Furthermore, when the lifting structure of the four-way shuttle lifts the tray, the Y+ direction distance sensor, Y- direction distance sensor, X+ direction distance sensor and X- direction distance sensor still detect the distance between the four-way shuttle and the obstacle in real time, and determine whether the distance reaches the first set value or the second set value, so that the four-way shuttle decelerates or stops.

[0015] Beneficial Effects: The obstacle avoidance detection device for the four-way shuttle vehicle body and pallets of the present invention, and its operational precautions, utilize two distance detection sensors installed in the Y-direction of the lifting structure of the four-way shuttle vehicle. When the lifting structure is in the lifted state, the two distance detection sensors detect the distance between the pallets on the Y-direction track and the four-way shuttle vehicle to determine the number of pallets, thereby determining whether there are any errors in the stacking of goods on the detected Y-direction track. Simultaneously, the two distance sensors can also detect the distance between the pallets and the four-way shuttle vehicle to determine whether to decelerate or stop, preventing goods on the pallets from colliding with goods on the shelf supports when the four-way shuttle vehicle lifts the pallets. Distance sensors are installed in four directions on the four-way shuttle vehicle body. When the four-way shuttle vehicle is running on the X-direction or Y-direction track, the distance between the four-way shuttle vehicle and other four-way shuttle vehicles or obstacles is detected to determine the control for deceleration and braking; this prevents the four-way shuttle vehicle from colliding with other obstacles and avoiding collision damage. It can prevent collisions between vehicle bodies and between goods on pallets. It can also identify the location of abnormal inventory and report the information to the inventory management system, thereby providing real-time feedback on inventory errors and achieving accurate inventory management. Attached Figure Description

[0016] Appendix Figure 1 This is a schematic diagram of a four-way shuttle vehicle;

[0017] Appendix Figure 2 This is a schematic diagram of the intersecting Y-axis and X-axis tracks;

[0018] Appendix Figure 3This is a comparative diagram showing a four-way shuttle on the Y-axis track with and without a lifting tray.

[0019] Appendix Figure 4 This is a schematic diagram of the battery module in the circuit;

[0020] Appendix Figure 5 This is a schematic diagram of the PLC-AP power supply switch module of the PLC control module in the circuit.

[0021] Appendix Figure 6 This is a circuit diagram showing the connection of four laser rangefinder sensors on the body of a four-way shuttle vehicle.

[0022] Appendix Figure 7 This is a circuit diagram showing the connection of two distance detection sensors on the lifting structure of a four-way shuttle.

[0023] Appendix Figure 8 This is a schematic diagram of the circuit connection of the first communication module;

[0024] Appendix Figure 9 This is a schematic diagram of the circuit connection for the second communication module;

[0025] Appendix Figure 10 This is a schematic diagram of the circuit connection for the third communication module. Detailed Implementation

[0026] The invention will now be further described with reference to the accompanying drawings.

[0027] As attached Figure 1-3 As shown, the obstacle avoidance and detection device for the four-way shuttle vehicle body and pallet is characterized by: including a four-way shuttle vehicle 1, a pallet 3 carrying goods, and crisscrossing Y-direction tracks 22 and X-direction tracks 21; the four-way shuttle vehicle 1 can run along the track directions of the Y-direction tracks 22 and X-direction tracks 21; each Y-direction track 22 is provided with a shelf support 23 on both sides, and the pallet 3 is supported on the shelf support 23; the vehicle 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 vehicle 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;

[0028] The X+ direction distance sensor 17, X- direction distance sensor 18, Y+ direction distance sensor 16, and Y- direction distance sensor 15 respectively detect the distance between the four-way shuttle 1 and obstacles in the direction of operation of the four-way shuttle 1. When the distance reaches a first set value, the four-way shuttle 1 decelerates; when the distance reaches a second set value, the four-way shuttle 1 stops. The obstacles can be other four-way shuttles, pallets, goods, or other obstacles that hinder the movement of the four-way shuttle 1. The goods may be accumulated on the X-direction track 21 and Y-direction track 22 due to operational errors.

[0029] As attached Figure 1-3 As shown, the pallets on the shelf support 23 all support goods. When the lifting structure 12 of the four-way shuttle 1 is not raised, there is a certain gap between the lifting structure 12 of the four-way shuttle 1 and the pallet 3 placed on the shelf support 23, allowing the four-way shuttle 1 to pass freely under the pallet placed on the shelf support 23. When the four-way shuttle 1 is raised, the lifting structure 12 of the four-way shuttle 1 lifts the pallet 3 with goods, and it cannot move freely under the pallet of the shelf support 23. The lifting structure 12 of the four-way shuttle 1 is located 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 equipped with wheels that cooperate with the X-axis track 21 and the Y-axis track 22, allowing the four-way shuttle 1 to run and move on the X-axis track 21 and the Y-axis track 22. The body 11 will not rise with the lifting structure 12.

[0030] As attached Figure 1-3 As shown, the four-way shuttle 1 is equipped with a lifting structure 12 that can be raised and lowered; the lifting structure 12 is equipped with a pallet Y+ distance detection sensor 14 and a Y- distance detection sensor 13 on the front and rear sides in the Y direction, respectively; when the lifting structure 12 is not raised, the four-way shuttle can freely shuttle under the pallet 3 when running along the Y track 22 and the X track 21; when the lifting structure 12 is raised, the Y+ distance detection sensor 14 and the Y- distance detection sensor 13 are at the same height as the pallet 3 supported on the shelf support 23.

[0031] As attached Figure 2-3As shown, the Y+ distance detection sensor 14, Y- distance detection sensor 13, Y+ direction distance sensor 16, Y- direction distance sensor 4215, X+ direction distance sensor 17, and X- direction distance sensor 18 all use laser rangefinders. The laser rangefinders can only detect other four-way shuttles or other obstacles at the same height as the laser rangefinders. That is, when the Y+ distance detection sensor 14 and Y- distance detection sensor 13 rise with the lifting structure 12 to the same height as the pallet 3 placed on the shelf support 23, the Y+ distance detection sensor 14 and Y- distance detection sensor 13 can detect the pallet 3 on the shelf support 23 of the Y-direction track 22.

[0032] As attached Figure 2-3 As shown, when the four-way shuttle 1 is running 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 is running 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.

[0033] As attached Figure 2-3 As shown, when the four-way shuttle 1 lifts the pallet 3 carrying goods, the Y+ distance detection sensor 14 and the Y- distance detection sensor 13 are at the same height as the pallet 3 supported on the rack support 23. The Y+ distance detection sensor 14 and the Y- distance detection sensor 13 detect whether there are other pallets on the rack support 23 on the Y-direction track 22 at the same height. When other pallets are detected to be less than the distance from the vehicle body 11 to the vehicle body, the four-way shuttle 1 begins to decelerate. When other pallets are detected to be less than the distance from the vehicle body 11 to the vehicle body, the four-way shuttle 1 begins to brake and its speed decreases to 0, that is, the four-way shuttle 1 stops or the four-way shuttle 1 reaches the position where the pallet is placed. At the same time, when the four-way shuttle 1 lifts the pallet carrying goods, the X+ distance sensor 17, the X- distance sensor 18, the Y+ distance sensor 16, and the Y- distance sensor 15 can also detect in real time other four-way shuttles on the X-direction track and the Y-direction track that are not in a lifting state.

[0034] As attached Figure 2-3 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 in each Y-direction track 22 and the four-way shuttle 1.

[0035] As attached Figure 4-10As shown, the obstacle avoidance detection device for the four-way shuttle vehicle and its pallet includes a four-way shuttle vehicle obstacle avoidance detection circuit, which 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.

[0036] As attached Figure 4 As shown, the battery module 4 includes a charging brush plate 42 and an emergency charging port 43; the positive and negative terminals of the charging brush plate 42 and the emergency charging port 43 are electrically connected to the positive and negative terminals of the charging port of the battery 41; the battery 41 in the four-way shuttle 1 is charged through the charging brush plate 42; the battery 41 includes a power-on switch, which controls the discharge port of the battery 41 to discharge or stop discharging.

[0037] As attached Figure 6-7 As shown, the obstacle avoidance sensor module consists 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. Each of the Y+ distance detection sensor 14, Y- distance detection sensor 13, Y+ direction distance sensor 16, Y- direction distance sensor 15, X+ direction distance sensor 17, and X- direction distance sensor 18 includes a power supply positive and negative terminal, a 458A port, and a 458B port.

[0038] As attached Figure 4-10 As shown, the positive and negative terminals of the discharge port of the battery 41 in the battery module 4 are electrically connected to the positive and negative terminals of the DC IN terminal of the PLC-AP power supply switch module 51 in the PLC control module, respectively; the positive and negative terminals of the DC OUT terminal of the PLC-AP power supply switch module 51 are electrically connected to the positive and negative terminals of the power supply of the Y+ distance detection sensor 14, Y- distance detection sensor 13, Y+ direction distance sensor 16, Y- direction distance sensor 15, X+ direction distance sensor 17 and X- direction distance sensor 18.

[0039] As attached Figure 8-10As 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, Y- direction distance sensor 15, X+ direction distance sensor 17, and 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, Y- direction distance sensor 15, X+ direction distance sensor 17, and 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 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 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.

[0040] As attached Figure 8-10 As shown, the CAN+ and CAN- terminals of the first communication module 53 are electrically connected to the CANH and CANL terminals of the driver, respectively. The PLC control module also includes a third communication module 52. The 458A+ and 458B- ports of the third communication module 52 are electrically connected to the 458A+ and 458- ports of the remote control box, respectively. The Ethernet port of the third communication module 52 is bidirectionally electrically connected to the network. After simple processing, the data detected by all distance detection sensors is sent to the network. For example, the number of pallets detected on a certain Y-axis track is uploaded to the network and 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 have been placed incorrectly, thereby providing real-time feedback on inventory errors and allowing for timely adjustments and corrections.

[0041] When the four-way shuttle is running on the X-axis track 21 and the Y-axis track, if an obstacle is encountered in its direction of travel, the four-way shuttle 1 can autonomously decelerate and come to a smooth stop to avoid collisions between the vehicles. It can also identify abnormal goods on the Y-axis track 21. When the four-way shuttle 1 is carrying goods on the Y-axis track 22, it can not only identify obstacles in its direction of travel, but also identify the location of any abnormalities in the inventory. Simultaneously, the vehicle can autonomously decelerate and stop to avoid collisions between pallets and between the four-way shuttles themselves.

[0042] The working method of the obstacle avoidance detection device for the four-way shuttle vehicle body and tray includes: when the lifting structure 12 of the four-way shuttle vehicle 1 is not lifted, when the four-way shuttle vehicle 1 is traveling in a certain direction, the laser rangefinder in the current direction provides real-time feedback on the distance between the obstacle and the four-way shuttle vehicle 1 in the running direction; when the four-way shuttle vehicle 1 is running on the X-direction track 21 or the Y-direction track 22, the X+ direction distance sensor 17 and the X-direction distance sensor 18 detect the distance between the four-way shuttle vehicle 1 and the obstacle on the X-direction track 21 in real-time, or the Y+ direction distance sensor 16 and the Y-direction distance sensor 15 detect the distance between the four-way shuttle vehicle 1 and the obstacle on the X-direction track 21 in real-time; when the distance between the four-way shuttle vehicle 1 and the obstacle is detected to reach a first set value, the four-way shuttle vehicle 1 begins to decelerate; when the distance between the four-way shuttle vehicle 1 and the obstacle is detected to reach a second set value, the speed of the four-way shuttle vehicle 1 is reduced to 0 and it stops, that is, it stops running and issues an alarm.

[0043] When the lifting structure 12 of the four-way shuttle 1 lifts the pallet 3, and the four-way shuttle 1 is running on the X-axis track 21, as the four-way shuttle 1 passes each Y-axis track 22, at the intersection of each Y-axis track 22 and the X-axis track 21, the Y+ distance detection sensor 14 and the Y- distance detection sensor 13 on the lifting structure 12 detect in real time the distance between the pallet 3 on the shelf support 23 of each Y-axis track 22 and the four-way shuttle 1. Based on the detected distance, the number of pallets 3 on the shelf support 23 is calculated, and this is used to determine the number of pallets 3 on the shelf support 23. The system detects whether there are any abnormalities in the placement of pallets 3 containing goods on the rack supports 23 of each Y-axis track 22. When the four-way shuttle 1 is running on the Y-axis track 22, it can also detect whether there are any abnormalities in the placement of pallets 3 on the rack supports 23. At this time, the four-way shuttle 1 needs to determine the specific position of the four-way shuttle 1 on the Y-axis track 22, calculate the distance between the four-way shuttle 1 and the pallet 3, and then calculate the number of pallets on the Y-axis track 22. The detected number is then compared with the original recorded number to determine whether there is any abnormality in the stacking of goods.

[0044] Y+ distance sensor 14 and Y- distance sensor 13 continuously monitor the distance between the pallet 3 on the shelf support 23 of each Y-axis track 22 and the four-way shuttle 1. When the detected distance reaches a first preset value, the four-way shuttle 1 begins to decelerate. When the detected distance reaches a second preset value, the four-way shuttle 1 stops and issues an alarm to prevent pallet-to-pallet collisions that could cause goods to fall off the shelf and result in losses. When the four-way shuttle 1 stops on the Y-axis track 22, it may be at the position where the pallet should be placed. The first preset value is larger than the second preset value, and both the first and second preset values ​​can be set automatically according to the operating requirements of the four-way shuttle 1.

[0045] When the four-way shuttle 1 is running on the Y-axis track 22, if the pallet is not placed accurately in the storage location, i.e., on the Y-axis 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 pallet collisions that could cause goods to fall off the shelf and cause losses.

[0046] When the lifting structure 12 of the four-way shuttle 1 lifts the tray 3, the Y+ direction distance sensor 16, Y- direction distance sensor 15, X+ direction distance sensor 17, and X- direction distance sensor 18 continue to detect the distance between the four-way shuttle 1 and the obstacle in real time, and determine whether the distance reaches the first set value or the second set value, so that the four-way shuttle 1 decelerates or stops. At this time, the Y+ direction distance sensor 16, Y- direction distance sensor 15, X+ direction distance sensor 17, and X- direction distance sensor 18 detect the distance between other four-way shuttles that have not been lifted and the four-way shuttle 1, or detect the distance between obstacles that are not high and the four-way shuttle 1, thereby avoiding the danger of collision.

[0047] Example

[0048] The four-way shuttle 1 is equipped with four directional distance sensors in its four operating directions, and two distance detection sensors are installed in the two directions of the Y-axis track of the lifting structure 12. The six sensors are connected to the PLC controller via 485 communication. When the software scheduling system of the four-way shuttle 1 encounters a vehicle path conflict or needs to avoid a crossroads, the four-way shuttle 1 uses its own sensors to sense the vehicle in front and thus performs a deceleration and stop action to avoid collisions with other vehicles.

[0049] When the four-way shuttle 1 moves on the X-axis track 21 or the Y-axis track 22, the distance sensor detects the direction of movement of the four-way shuttle 1. If an obstacle is detected and the distance between the obstacle and the four-way shuttle 1 reaches or is less than a first preset value, the four-way shuttle 1 begins to gradually decelerate. If the obstacle is another four-way shuttle 1, and the other four-way shuttle 1 passes by without detecting that the distance between the obstacle and the four-way shuttle 1 is greater than the first preset value, then the four-way shuttle 1 can accelerate back to its original speed. When the distance between the obstacle and the four-way shuttle 1 reaches or is less than a second preset value, the four-way shuttle 1 gradually decelerates to a stop and issues an alarm for an obstacle ahead to prevent a collision.

[0050] When the four-way shuttle 1 is not lifted, six laser rangefinders detect the distance between it and other four-way shuttles in the direction of movement to avoid collisions. When the four-way shuttle 1 is lifted, four laser rangefinders are mounted on the body 11 of the four-way shuttle 1, and two laser rangefinders are at the same height as the pallet 3 of the shelf support 23. When the four-way shuttle 1 is lifting a pallet with goods, and the four-way shuttle 1 is running on the X-axis track, the Y+ distance detection sensor 14 of the four-way shuttle 1... Y-distance detection sensor 13 detects the pallets 3 on the shelf supports 23 of the Y-direction tracks on both sides and uploads the data to the inventory management system to detect incorrect placement of goods on the shelves in real time. When the four-way shuttle 1 is running on the Y-direction track, the Y+ distance detection sensor 14 and Y-distance detection sensor 13 of the four-way shuttle 1 detect whether there are pallets 3 on the shelf supports 23 in the direction of movement of the four-way shuttle 1 and detect the distance, so that the four-way shuttle 1 decelerates and brakes to stop, avoiding collision between the four-way shuttle 1 and the pallets on the shelf supports 23.

[0051] When the lifting structure 12 of the four-way shuttle 1 lifts the pallet 3, the Y+ distance detection sensor 14 and 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-axis track 22 and the four-way shuttle 1. By measuring the distance, the number of goods placed on the Y-axis track 22, i.e., the number of pallets, is determined. If 'a' pallets are detected, but the network records 'b' pallets, then an error has occurred in the placement of goods and pallets with goods, and adjustments can be made promptly. The X+ distance sensor 17, X- distance sensor 18, Y+ distance sensor 16, and Y- distance sensor 15 of the four-way shuttle 1 continuously detect the distance data between the four-way shuttle 1 and other obstacles in the running direction and transmit it to the PLC control module. When the first set value is reached, the speed is reduced; when the second set value is reached, the speed is braked.

[0052] The above description is merely a preferred embodiment of the present invention. Those skilled in the art can make several modifications and optimizations based on the above disclosure without departing from the basic principles described above. These modifications and optimizations should be considered within the scope of protection as understood by the present invention.

Claims

1. A four-way shuttle vehicle body and pallet obstacle avoidance detection device, characterized in that: The system includes a four-way shuttle (1), a pallet (3) carrying goods, and crisscrossing Y-axis tracks (22) and X-axis tracks (21). The four-way shuttle (1) can run along the track directions of the Y-axis tracks (22) and X-axis tracks (21). Each Y-axis track (22) has a shelf support (23) on both sides, and the pallet (3) is supported on the shelf support (23). The body (11) of the four-way shuttle (1) is equipped 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 equipped 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 X+ direction distance sensor (17), X- direction distance sensor (18), Y+ direction distance sensor (16) and Y- direction distance sensor (15) respectively detect the distance between the four-way shuttle (1) and the obstacle in the direction of operation of the four-way shuttle (1). When the distance reaches the first set value, the four-way shuttle (1) decelerates; when the distance reaches the second set value, the four-way shuttle (1) stops. The four-way shuttle (1) is equipped with a lifting structure (12) that can be raised and lowered; the lifting structure (12) is equipped with a Y+ distance detection sensor (14) and a Y- distance detection sensor (13) on the front and rear sides in the Y direction, respectively; when the lifting structure (12) is not raised, the four-way shuttle can freely shuttle under the pallet (3) when running along the Y track (22) and the X track (21); when the lifting structure (12) is raised, the Y+ distance detection sensor (14) and the Y- distance detection sensor (13) are level with the height of the pallet (3) supported on the shelf support (23).

2. The obstacle avoidance detection device for the body and tray of the four-way shuttle vehicle according to claim 1, characterized in that: When the four-way shuttle (1) is running 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) is running 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.

3. The obstacle avoidance detection device for the body and tray of 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 each Y-direction track (22) and the four-way shuttle (1).

4. The obstacle avoidance detection device for the body and tray of the four-way shuttle vehicle according to claim 1, characterized in that: The system includes a four-way shuttle obstacle avoidance detection circuit, which 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.

5. The obstacle avoidance detection device for the body and tray of the four-way shuttle vehicle according to claim 4, characterized in that: The obstacle avoidance sensor module consists 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).

6. The obstacle avoidance detection device for the body and tray of the four-way shuttle vehicle according to claim 5, characterized in that: The positive and negative terminals of the discharge port of the battery (41) in the battery module (4) are electrically connected to the positive and negative terminals of the DC IN terminal of the PLC-AP power supply switch module (51) in the PLC control module, respectively; the positive and negative terminals of the DC OUT terminal of the PLC-AP power supply switch module (51) are electrically connected to the positive and negative terminals of the power supply of the Y+ distance detection sensor (14), Y- distance detection sensor (13), Y+ direction distance sensor (16), Y- direction distance sensor (15), X+ direction distance sensor (17) and X- direction distance sensor (18).

7. The method of operating the obstacle avoidance detection device for the body and tray of the four-way shuttle vehicle according to any one of claims 1-6, characterized in that: When the lifting structure (12) of the four-way shuttle (1) is not lifted, when the four-way shuttle (1) is running on the X-direction track (21) or the Y-direction track (22), the X+ direction distance sensor (17) and the X-direction distance sensor (18) detect the distance between the four-way shuttle (1) and the obstacle on the X-direction track (21) in real time, or the Y+ direction distance sensor (16) and the Y-direction distance sensor (15) detect the distance between the four-way shuttle (1) and the obstacle on the X-direction track (21) in real time; when the distance between the four-way shuttle (1) and the obstacle is detected to reach the first set value, the four-way shuttle (1) begins to decelerate; when the distance between the four-way shuttle (1) and the obstacle is detected to reach the second set value, the speed of the four-way shuttle (1) is reduced to 0. When the lifting structure (12) of the four-way shuttle (1) lifts the pallet (3), the four-way shuttle (1) runs on the X-axis track (21). The Y+ distance detection sensor (14) and Y- distance detection sensor (13) on the lifting structure (12) detect the distance between the pallet (3) on the shelf support (23) of each Y-axis track (22) and the four-way shuttle (1) in real time. Based on the detected distance, the number of pallets (3) on the shelf support (23) is obtained, and the number of pallets with goods placed on the shelf support (23) is determined. (3) Whether there is an abnormality; when the four-way shuttle (1) is running on the Y-direction track (22), it can also detect whether there is an abnormality in the pallet (3) placed on the shelf support (23); the Y+ distance detection sensor (14) and the Y- distance detection sensor (13) detect the distance between the pallet (3) on the shelf support (23) of each Y-direction track (22) and the four-way shuttle (1) in real time. When the detection distance reaches the first set value, the four-way shuttle (1) starts to decelerate. When the detection distance reaches the second set value, the four-way shuttle (1) stops.

8. The working method of the obstacle avoidance detection device for the four-way shuttle vehicle body and tray according to claim 7, characterized in that: When the lifting structure (12) of the four-way shuttle (1) lifts the tray (3), the Y+ direction distance sensor (16), Y- direction distance sensor (15), X+ direction distance sensor (17) and X- direction distance sensor (18) still detect the distance between the four-way shuttle (1) and the obstacle in real time, and determine whether the distance reaches the first set value or the second set value, so that the four-way shuttle (1) decelerates or stops.

Images