Four-way shuttle vehicle multiple safety detection system and detection method thereof

Abstract

The invention discloses a multi-safety detection system and method for a four-way shuttle vehicle, and the system comprises two sub-channel laser sensors which are installed on the four-way shuttle vehicle in a mirror image manner with the extension direction of a main track as the symmetry axis, and a main channel laser sensor which is installed on the four-way shuttle vehicle in the extension direction of the sub-track. The offset laser sensors are vertically mounted at four corners of the four-way shuttle vehicle; an included angle is formed between the emission direction of each sub-channel laser sensor and the extension direction of the sub-track; the emission direction of each main channel laser sensor is parallel to the extension direction of the main track, and the emission direction of the offset laser sensor is perpendicular to the lifting surface of the four-way shuttle vehicle; whether a tray on the four-way shuttle vehicle and the lifting face of the four-way shuttle vehicle deviate or not can be monitored in real time, whether obstacles exist on a shuttle vehicle running track or not can be monitored in real time, and the influence of goods and goods shelf parts on the three-dimensional goods shelf on the carrying process of the four-way shuttle vehicle can be avoided.

Description

Technical Field

[0001] The present invention belongs to the field of intelligent warehousing technology, and more specifically relates to a four-way shuttle vehicle multiple safety detection system and a detection method thereof. Background Art

[0002] As high-density stereoscopic warehouses evolve towards the intelligent direction of ultra-high-rise, narrow aisles, and multi-directional shuttles, four-way shuttle vehicles need to complete high-frequency, multi-path, and precise operations in complex three-dimensional spaces. The traditional shuttle vehicle safety monitoring system has a single sensor layout, mechanical limit and fixed threshold detection, which is prone to warning lag during high-speed emergency stops or inertial offsets, and is easily interfered by the shelf columns, causing the shuttle vehicle to collide with other goods or shelves during transportation. Summary of the invention

[0003] Purpose of the invention: In order to overcome the deficiencies in the prior art, the present invention provides a four-way shuttle multiple safety detection system and a detection method thereof, which can monitor in real time whether the pallet on the four-way shuttle is offset from the lifting surface of the four-way shuttle, can monitor in real time whether there are obstacles on the shuttle's travel track, can avoid the impact of goods and shelf components on the three-dimensional shelves on the four-way shuttle's handling process, and can also promptly transmit the status of the goods to the warehouse management system, so that the warehouse management system can update the goods information in the warehouse in a timely manner.

[0004] Technical solution: To achieve the above-mentioned purpose, a four-way shuttle multiple safety detection system and detection method thereof are provided in accordance with the present invention, comprising a three-dimensional shelf, a shuttle travel track and a four-way shuttle, wherein the three-dimensional shelf is set up on both sides of a shuttle travel track formed by crisscrossing and splicing a plurality of transverse main tracks and longitudinal sub-tracks, and the four-way shuttle can move in four directions along the travel surface of the sub-track or the main track; two sub-channel laser sensors are mirror-mounted at the two edges of one side of the four-way shuttle with the extension direction of the main track as the symmetry axis, and the emission direction of each sub-channel laser sensor is aligned with the sub-track. The extension direction of the sub-track is set at an angle; main channel laser sensors are installed on both sides of the four-way shuttle along the extension direction of the sub-track, and the emission direction of each main channel laser sensor is parallel to the extension direction of the main track. The sub-channel laser sensor and the main channel laser sensor can respectively detect the distance between the obstacles on the main track or the sub-track and the four-way shuttle; offset laser sensors are vertically installed at the four corners of the four-way shuttle, and the emission direction of the offset laser sensor is perpendicular to the lifting surface of the four-way shuttle. The offset laser sensor can detect the relative position of the cargo and the four-way shuttle.

[0005] Furthermore, in the process of transporting goods, the offset laser sensor can detect whether there is an offset between the pallet carrying the goods placed on the lifting surface of the four-way shuttle and the lifting surface of the four-way shuttle.

[0006] Furthermore, it also includes a pallet recognition sensor; the pallet sensing sensors are installed vertically upward on both sides of the main frame of the four-way shuttle, and each of the pallet sensing sensors can sense whether a pallet is set up on a cargo position of the three-dimensional shelf.

[0007] Furthermore, it also includes a laser recognition sensor, which is installed in the reversing structure area of ​​the four-way shuttle. After the lifting plate of the four-way shuttle is lifted, the laser recognition sensor can recognize whether the pallet placed on the shelf is in the correct cargo position.

[0008] Furthermore, a plurality of cargo spaces for placing pallets are sequentially arranged above the sub-track along the extension direction of the sub-track, the pallets located on the cargo spaces carry goods, a plurality of cargo space positioning codes corresponding to each cargo space are affixed on the running surface of the sub-track corresponding to each cargo space, and a barcode scanner is provided on the four-way shuttle vehicle, the scanning direction of the barcode scanner is opposite to the area on the running surface of the sub-track where the cargo space positioning code is affixed, and the barcode scanner can identify the information of the cargo space positioning code, thereby locating the running of the four-way shuttle vehicle on the sub-track.

[0009] Furthermore, several parallel sub-tracks intersect with the main track at their respective corresponding reversing areas, and several reversing areas are equidistantly distributed along the extension direction of the main track. A reversing positioning code is affixed to the running surface of each sub-track within the reversing area, and the barcode scanner can identify the information of the reversing positioning code, thereby locating the running of the four-way shuttle on the main track.

[0010] Further, a detection method for a four-way shuttle vehicle multiple safety detection system:

[0011] Step 1: affixing a cargo location positioning code on the running surface of each sub-track corresponding to each cargo location, and affixing a reversing positioning code on the running surface of each sub-track located in the reversing area;

[0012] Step 2: Two sub-channel laser sensors are mirror-mounted at two edges of one side of the four-way shuttle with the extension direction of the main track as the symmetry axis, and the emission direction of each sub-channel laser sensor is set at an angle to the extension direction of the sub-track;

[0013] Step 3: Install main channel laser sensors on both sides of the four-way shuttle along the extension direction of the sub-track, and the emission direction of the main channel laser sensors is parallel to the extension direction of the main track;

[0014] Step 4: vertically setting offset laser sensors at the four corners of the four-way shuttle, wherein the emission direction of the offset laser sensors is perpendicular to the lifting surface of the four-way shuttle;

[0015] Step 5: a scanner is arranged on the four-way shuttle vehicle, so that the scanning direction of the scanner is directly opposite to the area where the cargo location positioning code and the reversing positioning code are pasted on the sub-track running surface;

[0016] Step 6: When the four-way shuttle is traveling on the main track, the main channel laser sensor detects whether there are obstacles on the main track and can control the emergency braking of the four-way shuttle; the code scanner scans the reversing positioning code in sequence as the four-way shuttle moves, and locates the four-way shuttle;

[0017] Step 7: When the four-way shuttle is traveling on the sub-track, the sub-channel laser sensor detects whether there is an obstacle on the sub-track and can control the emergency braking of the four-way shuttle; the code scanner scans the cargo location code in sequence as the four-way shuttle moves, and locates the four-way shuttle;

[0018] Step 8: When the four-way shuttle vehicle is traveling on the sub-track, the laser recognition sensor detects whether the pallets of the three-dimensional shelves on both sides of the sub-track are in the correct cargo position;

[0019] Step 9: During the process of picking up goods from the cargo area, the pallet sensing sensor can sense whether there is a pallet carrying goods on the target cargo area:

[0020] Step 10: During the transportation process, the offset laser sensor detects whether the pallet carrying the goods is offset from the driving surface of the four-way shuttle vehicle, and can control the emergency braking of the four-way shuttle vehicle.

[0021] Beneficial effects: The four-way shuttle multiple safety detection system and detection method of the present invention can monitor in real time whether the pallet on the four-way shuttle is offset from the lifting surface of the four-way shuttle through the offset laser sensor, and can monitor in real time whether there are obstacles on the shuttle's travel track through the sub-channel laser sensor and the main channel laser sensor. The sub-channel laser sensor set at an angle to the extension direction of the sub-channel can avoid the influence of the goods and shelf components on the three-dimensional shelf on the handling process of the four-way shuttle. The laser recognition sensor and the pallet recognition sensor can also timely transmit the status of the goods to the warehouse management system, which is convenient for the warehouse management system to update the goods information in the warehouse in a timely manner. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of installing a four-way shuttle vehicle multiple safety detection system of the present invention on a four-way shuttle vehicle;

[0023] Figure 2 This is a schematic diagram of an application scenario of a four-way shuttle vehicle multiple safety detection system of the present invention in the first embodiment;

[0024] Figure 3This is a schematic diagram of the working scene of the laser recognition sensor;

[0025] Figure 4 This is the distribution diagram of the functional modules of the four-way shuttle;

[0026] Figure 5 This is a schematic diagram of the distribution of sensors on the four-way shuttle from a bird's-eye view;

[0027] Figure 6 It is a structural schematic diagram of a four-way shuttle vehicle running on a shuttle vehicle running track in the first embodiment of the present invention;

[0028] Figure 7 A distribution diagram of the cargo positions and positioning codes of the three-dimensional shelf in the first embodiment of the present invention;

[0029] Figure 8 This is a schematic diagram of the installation position of the barcode scanner of the present invention;

[0030] Fig. 9 Schematic diagram of the distribution of sensors on the four-way shuttle in the second embodiment of the present invention from a top view;

[0031] Fig.10 It is a structural schematic diagram of a four-way shuttle vehicle running on a shuttle vehicle running track in a second embodiment of the present invention;

[0032] Fig.11 This is a schematic diagram of a working scene of a laser recognition sensor in a second embodiment of the present invention;

[0033] Fig.12 This is a distribution diagram of the locations of the shelves and signal receivers in the second embodiment of the present invention. DETAILED DESCRIPTION

[0034] The present invention will be further described below in conjunction with the accompanying drawings.

[0035] like Figure 1 and 2As shown; a four-way shuttle vehicle multiple safety detection system and detection method thereof, comprising a three-dimensional shelf, a shuttle vehicle travel track and a four-way shuttle vehicle 1, wherein the three-dimensional shelf is set up on both sides of the shuttle vehicle travel track formed by a plurality of transverse main tracks 12 and longitudinal sub-tracks 11 criss-crossed and spliced, and the sub-tracks 11 or the main track 12 are the travel surfaces along which the four-way shuttle vehicle 1 can move in four directions; two sub-channel laser sensors 4 are installed at the two edges of one side of the four-way shuttle vehicle 1 with the extension direction of the main track 12 as the symmetry axis in a mirror-image manner, and the sub-channel laser sensors 4 can sense the distance signal attenuation change between the obstacle on the sub-channel 11 and the four-way shuttle vehicle 1, and the emission direction of each sub-channel laser sensor 4 is set at an angle to the extension direction of the sub-track 11, so that not only the detection range can be expanded, but also the interference of the shelf to the four-way shuttle vehicle 1 during driving can be reduced; the central areas on both sides of the four-way shuttle vehicle 1 along the extension direction of the sub-track 12 Two main channel laser sensors 6 are installed in the staggered areas. The main channel laser sensors 6 can sense the attenuation change of the distance signal between the obstacle on the main channel 12 and the four-way shuttle 1. The emission direction of the main channel laser sensor 6 is parallel to the extension direction of the main track 12. The sub-channel laser sensors 4 and the main channel laser sensors 6 can respectively detect the distance between the obstacle on the main track 12 or the sub-track 11 and the four-way shuttle 1; the coordinated detection of the sub-channel laser sensors 4 and the main channel laser sensors 6 can avoid the collision between the four-way shuttle 1 and the track obstacles; offset laser sensors 3 are vertically installed at the four corners of the four-way shuttle 1, and the emission direction of the offset laser sensors 3 is perpendicular to the lifting surface of the four-way shuttle 1. The offset laser sensors 3 can detect the relative position of the cargo and the four-way shuttle 1; that is, the coordinated detection between the offset laser sensors 3 can detect whether the cargo on the lifting surface of the four-way shuttle 1 is offset relative to the lifting surface of the four-way shuttle 1.

[0036] like Figure 6As shown, in the process of transporting goods, when the pallet carrying goods placed on the lifting surface of the four-way shuttle 1 is offset from the lifting surface of the four-way shuttle 1 or the goods are offset from the bearing surface of the pallet due to problems such as emergency stop, vibration and collision during the transport process, the bottom surface of the pallet or the bottom surface of the goods will block the offset detection laser 301 emitted by the offset laser sensor 3, so that the projection distance of the offset detection laser 301 is within the detection range preset by the offset laser sensor 3, thereby triggering the offset laser sensor 3 to send a pallet offset signal to the PLC control system 17, that is, the offset laser sensor 3 can detect whether there is an offset between the pallet carrying goods placed on the lifting surface of the four-way shuttle 1 and the lifting surface of the four-way shuttle 1 or between the bearing surface of the pallet and the goods, and control the emergency braking of the four-way transfer vehicle 1 through the PLC control system 17, and the offset laser sensor 3 can adjust the detection range according to the material of the pallet.

[0037] like Figure 4 As shown, it also includes a pallet identification sensor 2; the pallet identification sensor 2 can use different types of sensors according to the material and type of the pallet, such as ultrasonic sensors and laser sensors; the pallet sensing sensors 2 are installed vertically upward on both sides of the main frame of the four-way shuttle 1, and each of the pallet sensing sensors 2 can sense the pallet and the two pallet sensing sensors 2 are arranged asymmetrically; when the four-way shuttle 1 arrives at the target cargo location 18, the pallet sensing sensor 2 can detect the actual cargo status of the cargo location 18 and compare it with the warehouse management system data to verify the consistency of the information; if the pallet sensing sensor 2 detects that the pallet reflection signal is abnormally attenuated during the transportation process, the four-way shuttle 1 is triggered to emergency brake.

[0038] like Figure 3 As shown, it also includes a laser recognition sensor 5, which adopts a laser sensor with image recognition function. The laser recognition sensor 5 is installed in the reversing structure area 10 on the four-way shuttle 1. When the four-way shuttle 1 reaches the intersection of the sub-track 11 and the main track 12 where the target goods are located, the PLC control system 17 controls the reversing structure area 10 on the four-way shuttle 1 to reverse. After reversing, the laser recognition sensor 5 emits a first recognition laser 501 to recognize the information of the goods placed on the shelf, and compares the recognized data with the warehouse management system data to avoid the situation where the goods are placed in the wrong cargo position 18 in the warehouse.

[0039] like Figure 7 and 8As shown, in the first embodiment of the present invention, a plurality of cargo spaces 18 for placing pallets are sequentially arranged above each of the sub-tracks 11 along the extension direction of the sub-track 11, and the pallets located on the cargo spaces 18 carry the goods. When the four-way shuttle 1 receives the transport signal, the four-way shuttle 1 only needs to first travel along the main track 11 to the junction of the sub-track 12 and the main track 11 where the target goods are located, and then travel along the sub-track 12 to the bottom of the cargo space 18 where the target goods are located after changing direction, and perform lifting movement to complete the transport of the target goods.

[0040] A plurality of cargo location positioning codes 19 corresponding to each cargo location 18 are affixed on the running surface of the sub-track 11, and a barcode scanner 20 is provided on the four-way shuttle 1. The scanning direction of the barcode scanner 20 is directly opposite to the area on the running surface of the sub-track 11 where the cargo location positioning code 19 is affixed. The barcode scanner 20 can identify the information of the cargo location positioning code 19, thereby locating the running of the four-way shuttle 1 on the sub-track 11.

[0041] The plurality of parallel sub-tracks 11 intersect the main track 12 at the corresponding reversing areas 17, and the plurality of reversing areas 17 are equidistantly distributed along the extension direction of the main track 12. A reversing positioning code 21 is affixed on the running surface of each sub-track 11 located in the reversing area 17. The barcode scanner 20 can identify the information of the reversing positioning code 21, thereby locating the running of the four-way shuttle 1 on the main track 12;

[0042] When the four-way shuttle 1 is traveling on the main track 12, the barcode scanner 20 scans the reversing positioning codes 21 in the reversing areas 17 in sequence as the four-way shuttle 1 moves, and compares the information of the identified reversing positioning codes 21 with the data in the warehouse management system. When the barcode scanner 20 identifies the information of the reversing positioning code 21 pasted on the reversing area 17 where the sub-track 11 corresponding to the cargo position 18 where the target goods are located is connected to the main track 12, the barcode scanner 20 transmits a reversing signal to the PLC control system, and the PLC control system controls the four-way shuttle 1 to stop at the reversing area 17 corresponding to the reversing positioning code 21, and controls the reversing structure in the reversing structure area 10 of the four-way shuttle 1 to perform a reversing movement, thereby causing the four-way shuttle 1 to change from traveling along the driving surface of the main track 12 to traveling along the driving surface of the sub-track 11.

[0043] When the four-way shuttle 1 is traveling on the sub-track 11, the barcode scanner 20 scans the cargo location positioning code 19 pasted on the driving surface of the sub-track 11 in sequence as the four-way shuttle 1 moves forward, and compares the identified cargo location positioning code 19 information with the data in the warehouse management system. When the barcode scanner 20 identifies the cargo location positioning code 19 corresponding to the cargo location 18 where the target cargo is located, the barcode scanner 20 transmits a transport signal to the PLC control system, and the PLC control system controls the four-way shuttle 1 to stop below the cargo location 18 corresponding to the cargo location positioning code 19, and controls the lifting plate of the four-way shuttle 1 to perform a lifting movement, so that the pallet carrying the target cargo on the cargo location 18 is separated from the cargo location 18, thereby completing the picking process.

[0044] like Figure 4 As shown, the internal structure of the four-way shuttle 1 adopts a modular design. The driving motor and the reversing motor for controlling the driving and reversing actions of the four-way shuttle 1 are located in the driving area 7, the power battery pack for providing energy for the four-way shuttle 1 is located in the energy area 8, the electrical control box for controlling all electrical components on the four-way shuttle 1 is located in the electrical control area 9, and the mechanical transmission mechanism for realizing the lifting movement of the four-way shuttle 1 is located in the reversing structure area 10. Such an arrangement can make the structure of the four-way shuttle 1 more compact, thereby making the appearance of the four-way shuttle 1 more compact, and being able to complete the handling work on a more compact three-dimensional shelf.

[0045] A detection method for a four-way shuttle vehicle multiple safety detection system:

[0046] Further, a detection method for a four-way shuttle vehicle multiple safety detection system:

[0047] Step 1: affixing a cargo location positioning code 19 corresponding to each cargo location 18 on the running surface of each sub-track 11, and affixing a reversing positioning code 21 on the running surface of each sub-track 11 located in the reversing area 17;

[0048] Step 2: Two sub-channel laser sensors 4 are mirror-mounted at two edges of one side of the four-way shuttle 1 with the extension direction of the main track 12 as the symmetry axis, and the emission direction of each sub-channel laser sensor 4 is set at an angle to the extension direction of the sub-track 11;

[0049] Step 3: Install main channel laser sensors 6 on both sides of the extension direction of the sub-track 12 on the four-way shuttle 1, and the emission direction of the main channel laser sensors 6 is parallel to the extension direction of the main track 12;

[0050] Step 4: vertically set an offset laser sensor 3 at the four corners of the four-way shuttle 1, and the emission direction of the offset laser sensor 3 is perpendicular to the lifting surface of the four-way shuttle 1;

[0051] Step 5: a scanner 20 is arranged on the four-way shuttle 1, so that the scanning direction of the scanner 20 is directly opposite to the area where the cargo location code 19 and the reversing location code 21 are pasted on the running surface of the sub-track 11;

[0052] Step 6: When the four-way shuttle 1 is traveling on the main track 12, the main channel laser sensor 6 detects whether there is an obstacle on the main track 12, and can control the emergency braking of the four-way shuttle 1; the code scanner 20 scans the reversing positioning code 21 in sequence as the four-way shuttle 1 moves, and locates the four-way shuttle 1;

[0053] Step 7: When the four-way shuttle 1 is traveling on the sub-track 11, the sub-channel laser sensor 4 detects whether there is an obstacle on the sub-track 11, and can control the emergency braking of the four-way shuttle 1; the code scanner 20 scans the cargo location positioning code 19 in sequence as the four-way shuttle 1 moves, and locates the four-way shuttle 1;

[0054] Step 8: When the four-way shuttle 1 is traveling on the sub-track 11, the laser recognition sensor 5 detects whether the pallets of the three-dimensional shelves on both sides of the sub-track 11 are in the correct cargo position 18;

[0055] Step 9: During the process of picking up goods from the cargo position 18, the pallet sensing sensor 2 can sense whether there is a pallet carrying goods on the target cargo position 18:

[0056] Step 10: During the transportation process, the offset laser sensor 3 detects whether the pallet carrying the goods is offset from the driving surface of the four-way shuttle 1, and can control the four-way shuttle 1 to perform emergency braking.

[0057] The above content is the first embodiment of the present invention. In the first embodiment, although it can cope with most of the problems encountered by the four-way shuttle 1 on the shuttle travel track, when the four-way shuttle 1 is traveling on the shuttle travel track, due to vibration or emergency braking and other reasons, the four-way shuttle 1 may be offset from the travel surface of the main track 12 or the sub-track 11, and the interval between the cargo spaces on two adjacent sub-tracks 11 is too small, which may easily cause the cargo on the four-way shuttle 1 to collide and collapse with the cargo on the cargo space 18 during transportation. In addition, there are too many sensors installed on the four-way shuttle 1, which may easily cause interference between the sensors. Based on the above problems, the present invention proposes a second embodiment.

[0058] In the second embodiment of the present invention, a plurality of cargo spaces 18 for placing pallets are sequentially arranged on both sides of each of the sub-tracks 11 along the extension direction of the sub-track 11. The pallets on the cargo spaces 18 carry goods, and a transport lane vertically arranged to the sub-track 11 is arranged below the cargo spaces 18. When the four-way shuttle 1 receives a transport signal, the four-way shuttle 1 needs to first travel along the main track 11 to the junction of the sub-track 12 where the target goods are located and the main track 11, and then travel along the sub-track 12 to the position corresponding to the cargo space 18 where the target goods are located on the sub-track 12 after changing direction, and then control the four-way shuttle 1 to enter the lane below the cargo space 18 where the target goods are located, and perform a lifting movement, thereby completing the transport of the target goods.

[0059] like Fig.10 and 12 As shown, in the second embodiment, it also includes a signal receiver 13 and a reflective tape 15. The three-dimensional shelf is provided with a plurality of shelf columns, and each of the plurality of shelf columns is installed with a corresponding signal receiver 13. The signal receiver 13 can receive the laser signal emitted by the main channel laser sensor 6 or the sub-channel laser sensor 4 and generate the main track positioning data or the sub-track positioning data accordingly; the reflective tape 15 is attached to the lower surface of the main track 12 or the sub-track 11, and the reflective tape 15 has a reflective characteristic that matches the wavelength of the offset detection laser 301 emitted by the offset laser sensor 3, so the reflective tape 15 The laser sensor 3 in the second embodiment is different from the laser sensor 3 in the first embodiment. In the second embodiment, the laser sensor 3 is provided with a receiving area for receiving the light spot of the offset detection laser 301 reflected by the reflection tape 15. The offset detection laser 301 emitted by the laser sensor 3 will cause the four-way shuttle vehicle to emergency brake after being blocked by a pallet or cargo. When the laser sensor 3 does not receive the light spot formed by the offset detection laser 301 reflected by the reflection tape 15, the laser sensor 3 will also control the four-way shuttle vehicle to emergency brake.

[0060] Since the four-way shuttle 1 generates vibrations during its travel on the travel track, these vibrations are transmitted to the cargo stacks stacked on the cargo positions 18 of the three-dimensional shelf through the three-dimensional shelf, thereby causing slight offsets between several cargo units in the cargo stacks, thereby causing the cargo stacks to shift. Fig.11As shown, in the second embodiment of the present scheme, the laser recognition sensor 5 uses a laser sensor that can emit two different lasers and has an image recognition function. When the four-way shuttle 1 reaches the intersection of the sub-track 11 and the main track 12 where the target goods are located, the PLC control system 17 controls the reversing structure area 10 on the four-way shuttle 1 to reverse. After the reversal, the laser recognition sensor 5 emits a first recognition laser 501 that can recognize the nameplate on the side wall of the pallet placed on the shelf, and compares the recognized data with the warehouse management system data until the data recognized by the laser recognition sensor 5 matches the target goods. The four-way shuttle 1 enters the cargo position 18 to carry the target goods. When the four-way shuttle 1 After the lifting movement of the lifting plate lifts up the pallet carrying goods mounted on the three-dimensional shelf storage space 18, the laser recognition sensor 5 emits a second recognition laser 502, the emission angle of the second recognition laser 502 is adjustable, and the projection point of the second recognition laser 502 is always aligned with the top of another group of goods next to the target goods close to the target goods. According to the synergistic effect of the first recognition laser 501 and the second recognition laser 502, the laser recognition sensor 5 can obtain the degree of inclination of the other group of goods next to the target goods toward the target goods, thereby avoiding the collision between the target goods and the other group of goods next to the target goods when the four-way shuttle vehicle 1 pulls the target goods out of the storage space 18.

[0061] In the second embodiment of this scheme, a detection method of a four-way shuttle multiple safety detection system is provided:

[0062] Step 1: deploying a signal receiver 13; setting a signal receiver array on a plurality of shelf columns on both sides of the main track 12 and the sub-track 11 of the three-dimensional shelf, the signal receiver array comprising a plurality of signal receivers 13, each of the plurality of shelf columns having a corresponding signal receiver 13, the signal receiver 13 being used to receive the laser signal emitted by the four-way shuttle 1 and generate positioning data;

[0063] Step 2: Mounting the reflective tape 15; Mounting the reflective tape 15 on the lower surface of the main track 12 and the sub-track 13 along the length direction of the main track 12 or the sub-track 13, wherein the reflective tape 15 has a reflective characteristic matching the wavelength of the offset detection laser 301 emitted by the offset laser sensor 3;

[0064] Step 3: Install the laser sensor; install the sub-channel laser sensor 4 on both sides of the extension direction of the sub-track 11 on the four-way shuttle 1, and the emission direction of the sub-channel laser sensor 4 is set at an adjustable angle with the extension direction of the sub-track 11, so that the emitted laser beam forms a cross coverage area in front of the sub-track 11;

[0065] Main channel laser sensors 6 are installed on both sides of the extension direction of the sub-track 12 on the four-way shuttle 1, and the emission direction of the main channel laser sensors 6 is parallel to the extension direction of the main track 11;

[0066] An offset laser sensor 3 is vertically arranged at the four corners of the four-way shuttle 1, and the emission of the offset laser sensor 3 is perpendicular to the lifting surface of the four-way shuttle 1;

[0067] Step 4: Positioning and driving control of the main track 12; when the four-way shuttle 1 is driving on the main track 12, the signal receivers 13 arranged on the shelf columns distributed along the extension direction of the main track 12 receive the laser signal emitted by the sub-channel laser sensor 4, and generate main track positioning data to be transmitted to the PLC control system 17. The PLC control system 17 controls the four-way shuttle 1 to continue moving or stop according to the main track positioning data, thereby positioning the four-way shuttle 1 on the main track 12;

[0068] Step 5: Positioning and driving control of the sub-track 11; when the four-way shuttle 1 is driving on the sub-track 11, the signal receivers 13 arranged on the shelf columns distributed along the extension direction of the sub-track 11 receive the laser signal emitted by the main channel laser sensor 6, and generate sub-track positioning data to be transmitted to the PLC control system 17. The PLC control system 17 controls the four-way shuttle 1 to continue moving or stop according to the sub-track positioning data, thereby positioning the four-way shuttle 1 on the main track 12;

[0069] Step 6: offset detection and emergency braking; when the four-way shuttle 1 is traveling with goods on the main track 12 or the sub-track 11, the offset detection laser 301 emitted by the offset laser sensor 3 is projected onto the reflective belt 15 and receives the reflected light spot signal; thereby real-time monitoring is performed on whether the four-way shuttle 3 is offset from the driving surface of the main track 12 or the sub-track 11 during the driving process on the three-dimensional shelf, and the detection data after the offset is input into the PLC control system 17; when the position offset of the reflected light spot received by the offset laser sensor 3 exceeds the preset threshold, or no reflected light spot is received, the PLC control system 17 controls the four-way shuttle 1 to perform emergency braking;

[0070] Step seven: Dynamic detection of obstacles; when the four-way shuttle 1 is carrying goods on the main track 12 or sub-track 11 of the three-dimensional shelf, if the laser emitted by the sub-channel laser sensor 4 or the main channel laser sensor 6 is blocked, the PLC control system 17 controls the four-way shuttle 1 to emergency brake.

[0071] like Fig.10As shown, in step 2, since the three-dimensional shelf can store goods not only in one plane, but can store goods in multiple planes of different heights but parallel to each other in space, and each layer of storage space is provided with a shuttle vehicle running track composed of a plurality of transverse main tracks 12 and longitudinal sub-tracks 11 crisscrossed and spliced, the main tracks 12 and sub-tracks 11 on each layer of the shuttle vehicle running track are parallel to each other and have the same structural distribution, so when the four-way shuttle vehicle 1 is running on the shuttle vehicle running track of the layer where it is located, the four-way shuttle vehicle 1 The offset detection laser 301 emitted by the offset laser sensor 3 can be projected onto the lower surface of the main track 12 or the sub-track 11 located on the upper layer of the four-way shuttle 1. Therefore, when the four-way shuttle 1 deviates from the running surface of the main track 12 or the sub-track 11 on the shuttle running track where it is located, the offset detection laser 301 emitted by the offset laser sensor 3 on the four-way shuttle 1 will be refracted by the reflective band 15 on the lower surface of the last main track 12 or the sub-track 11, resulting in the position of the reflected light spot received by the offset laser sensor 3 being offset. Therefore, the offset laser sensor 3 can be used to avoid accidents caused by the four-way shuttle 1 deviating from the running surface of the main track 12 or the sub-track 11 during the running of the four-way shuttle 1 on the main track 12 or the sub-track 11.

[0072] like Fig.12 As shown, in step three, the number of the sub-channel laser sensors 4 is four, and each of the sub-channel laser sensors 4 is respectively arranged on both sides of the four-way shuttle 1 along the extension direction of the sub-track 11, and close to the two ends of the four-way shuttle 1 along the extension direction of the sub-track 11, and the two sub-channel laser sensors 4 close to the same end are symmetrically arranged with the extension line of the sub-track 11 as the symmetry axis; the sub-channel monitoring lasers 401 emitted by the sub-channel laser sensors 4 are all arranged at an angle to the extension direction of the sub-track 11;

[0073] In step five, the two sub-channel monitoring lasers 401 emitted by the two sub-channel laser sensors 4 near the same end are respectively projected to the edges of both sides of the sub-track 11, and the two sub-channel monitoring lasers 401 emitted by the two sub-channel laser sensors 4 near the same end intersect at the emergency stop identification point 403. When the emergency stop identification point 403 is projected on the obstacle surface on the sub-track 11, the PLC control system 17 controls the four-way shuttle 1 to stop running, and the two sub-channel monitoring lasers 401 emitted by the two sub-channel laser sensors 4 near the same end intersect at the emergency stop identification point 403. 03, their respective sub-channel monitoring laser extension lasers 402 are respectively set at an angle to the edges on both sides of the sub-track 11. When the parts on the three-dimensional shelf or the pallets carrying goods protrude from the running surface of the sub-track 11 or there are other obstacles on the running surface of the sub-track 11, the sub-channel monitoring laser extension laser 402 can detect the distance between the parts on the three-dimensional shelf or the pallets carrying goods or other obstacles on the running surface of the sub-track 11 and the four-way shuttle 1, and transmit the distance data to the PLC control system 17, and the PLC control system 17 controls the four-way shuttle 1 to perform emergency braking.

[0074] At the same time, a key identification database 18 can also be established in the PLC control system 17. During normal use, the key identification database 18 will continuously perform autonomous learning based on the data transmitted to the PLC control system 17 by the offset laser sensor 3 during the travel of the four-way shuttle 1, and focus on identifying all data corresponding to all warning positions 16 where the four-way shuttle 1 is offset from the driving surface of the main track 12 or the sub-track 11; when the data transmitted to the PLC control system 17 by the offset laser sensor 3 on the four-way shuttle 1 coincides with the key identification data in the key identification database 18, the PLC control system 17 reduces the driving speed of the four-way shuttle 1, thereby ensuring that the four-way shuttle 1 is not offset from the driving surface of the main track 12 or the sub-track 11 as much as possible on the section where the warning position 16 is located.

[0075] The above are preferred embodiments of the present invention. It should be pointed out that a person skilled in the art may make several improvements and modifications without departing from the principles of the present invention. These improvements and modifications should also be regarded as within the protection scope of the present invention.

Claims

1. A four-way shuttle vehicle multiple safety detection system, characterized by: The invention comprises a three-dimensional shelf, a shuttle vehicle running track and a four-way shuttle vehicle (1), wherein the three-dimensional shelf is erected on both sides of a shuttle vehicle running track formed by crisscrossing and splicing a plurality of transverse main tracks (12) and longitudinal sub-tracks (11), and the four-way shuttle vehicle (1) can move in four directions along the running surface of the sub-track (11) or the main track (12); two sub-channel laser sensors (4) are mirror-mounted at two edges of one side of the four-way shuttle vehicle (1) with the extension direction of the main track (12) as the symmetry axis, and the emission direction of each sub-channel laser sensor (4) is set at an angle to the extension direction of the sub-track (11); the four-way shuttle vehicle (1) is arranged along the sub-track Main channel laser sensors (6) are installed on both sides of the extension direction of the main track (12), and the emission direction of each main channel laser sensor (6) is parallel to the extension direction of the main track (12). The sub-channel laser sensors (4) and the main channel laser sensors (6) can respectively detect the distance between obstacles on the main track (12) or the sub-track (11) and the four-way shuttle (1); offset laser sensors (3) are vertically installed at the four corners of the four-way shuttle (1), and the emission direction of the offset laser sensors (3) is perpendicular to the lifting surface of the four-way shuttle (1). The offset laser sensors (3) can detect the relative position of the goods and the four-way shuttle (1).

2. A four-way shuttle vehicle multiple safety detection system according to claim 1, characterized in that: During the process of transporting goods, the offset laser sensor (3) can detect whether an offset occurs between a pallet carrying goods placed on the lifting surface of the four-way shuttle (1) and the lifting surface of the four-way shuttle (1).

3. A four-way shuttle vehicle multiple safety detection system according to claim 1, characterized in that: It also includes a pallet identification sensor (2); the pallet sensing sensors (2) are installed vertically upward on both sides of the main frame of the four-way shuttle (1), and each of the pallet sensing sensors (2) can sense whether a pallet is installed on a cargo position (18) of the three-dimensional shelf.

4. A four-way shuttle vehicle multiple safety detection system according to claim 1, characterized in that: It also includes a laser recognition sensor (5), which is installed in the reversing structure area (10) on the four-way shuttle (1). After the lifting plate of the four-way shuttle (1) is lifted, the laser recognition sensor (5) can recognize whether the pallet placed on the shelf is in the correct cargo position (18).

5. A four-way shuttle vehicle multiple safety detection system according to claim 1, characterized in that: A plurality of cargo positions (18) for placing pallets are sequentially arranged above the sub-track (11) along the extension direction of the sub-track (11), and the pallets located on the cargo positions (18) carry cargo. A plurality of cargo position positioning codes (19) corresponding to each cargo position (18) are affixed on the running surface of the sub-track (11), and a scanner (20) is arranged on the four-way shuttle vehicle (1). The scanning direction of the scanner (20) is directly opposite to the area on the running surface of the sub-track (11) where the cargo position positioning code (19) is affixed. The scanner (20) can identify the information of the cargo position positioning code (19), thereby locating the running of the four-way shuttle vehicle (1) on the sub-track (11).

6. A four-way shuttle vehicle multiple safety detection system according to claim 5, characterized in that: A plurality of parallel sub-tracks (11) intersect with the main track (12) at respective corresponding reversing areas (17); the plurality of reversing areas (17) are equidistantly distributed along the extension direction of the main track (12); a reversing positioning code (21) is affixed to the running surface of each sub-track (11) located in the reversing area (17); the code scanner (20) can identify information of the reversing positioning code (21), thereby locating the running of the four-way shuttle vehicle (1) on the main track (12).

7. The detection method of a four-way shuttle vehicle multiple safety detection system according to claim 1, characterized in that: Step 1: affixing a cargo location positioning code (19) corresponding to each cargo location (18) on the running surface of each sub-track (11), and affixing a reversing positioning code (21) on the running surface of each sub-track (11) located in the reversing area (17); Step 2: Two sub-channel laser sensors (4) are mirror-mounted at two edges of one side of the four-way shuttle (1) with the extension direction of the main track (12) as the axis of symmetry, and the emission direction of each sub-channel laser sensor (4) is set at an angle to the extension direction of the sub-track (11); Step 3: Main channel laser sensors (6) are installed on both sides of the extension direction of the sub-track (12) on the four-way shuttle (1), and the emission direction of the main channel laser sensors (6) is parallel to the extension direction of the main track (12); Step 4: vertically arranging offset laser sensors (3) at the four corners of the four-way shuttle (1), wherein the emission direction of the offset laser sensors (3) is perpendicular to the lifting surface of the four-way shuttle (1); Step 5: a code scanner (20) is arranged on the four-way shuttle vehicle (1), so that the scanning direction of the code scanner (20) is directly opposite to the area where the cargo location code (19) and the direction-reversing location code (21) are pasted on the running surface of the sub-track (11); Step 6: When the four-way shuttle (1) is traveling on the main track (12), the main channel laser sensor (6) detects whether there is an obstacle on the main track (12), and can control the emergency braking of the four-way shuttle (1); the code scanner (20) scans the reversing positioning code (21) in sequence as the four-way shuttle (1) moves, and locates the four-way shuttle (1); Step 7: When the four-way shuttle vehicle (1) is traveling on the sub-track (11), the sub-channel laser sensor (4) detects whether there is an obstacle on the sub-track (11), and can control the emergency braking of the four-way shuttle vehicle (1); the code scanner (20) scans the cargo location positioning code (19) in sequence as the four-way shuttle vehicle (1) moves, and locates the four-way shuttle vehicle (1); Step 8: When the four-way shuttle vehicle (1) is traveling on the sub-track (11), the laser recognition sensor (5) detects whether the pallets of the three-dimensional shelves on both sides of the sub-track (11) are at the correct cargo position (18); Step 9: During the process of picking up goods from the cargo position (18), the pallet sensing sensor (2) can sense whether there is a pallet carrying goods on the target cargo position (18): Step 10: During the transportation process, the offset laser sensor (3) detects whether the pallet carrying the goods is offset from the driving surface of the four-way shuttle vehicle (1), and can control the emergency braking of the four-way shuttle vehicle (1).

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