A multi-safety detection system and detection method for a four-way shuttle vehicle

Abstract

This invention discloses a multi-safety detection system and method for a four-way shuttle, comprising two sub-channel laser sensors mirror-mounted on the main track of the four-way shuttle along a symmetrical axis of extension; a main channel laser sensor mounted on the four-way shuttle along the extension direction of the sub-track; and offset laser sensors vertically mounted at the four corners of the four-way shuttle. The emission direction of each sub-channel laser sensor is set at an angle to 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 sensors is perpendicular to the lifting surface of the four-way shuttle. This system can monitor in real time whether the pallets on the four-way shuttle are offset from the lifting surface of the four-way shuttle, and can monitor in real time whether there are obstacles on the shuttle's travel track, thus avoiding the impact of goods and rack components on the four-way shuttle's handling process.

Description

Technical Field

[0001] This invention belongs to the field of intelligent warehousing technology, and more specifically, it is a four-way shuttle vehicle multi-safety detection system and its detection method. Background Technology

[0002] As high-density automated warehouses evolve towards intelligent structures with ultra-high ceilings, narrow aisles, and multi-directional shuttles, four-way shuttles need to perform high-frequency, multi-path, and precise operations in complex three-dimensional spaces. Traditional shuttle safety monitoring systems have a simple sensor layout, mechanical limit switches, and fixed threshold detection. They are prone to warning delays during high-speed emergency stops or inertial deviations, and are easily interfered with by rack columns, which can cause the shuttle to collide with other goods or racks during the handling process. Summary of the Invention

[0003] Purpose of the invention: To overcome the shortcomings of existing technologies, this invention provides a four-way shuttle multi-safety detection system and its detection method. This system can monitor in real time whether the pallets on the four-way shuttle are misaligned with the lifting surface of the shuttle, can monitor in real time whether there are obstacles on the shuttle's travel track, can prevent the influence of goods and rack components on the four-way shuttle's handling process, and can also promptly transmit the status of the goods to the warehouse management system, facilitating timely updates of the warehouse's goods information.

[0004] Technical Solution: To achieve the above objectives, the present invention provides a four-way shuttle multiple safety detection system and its detection method, comprising a three-dimensional rack, a shuttle travel track, and a four-way shuttle. The three-dimensional rack is mounted on both sides of the shuttle travel track, which is composed of several transverse main tracks and longitudinal sub-tracks interlaced together. The four-way shuttle can move in four directions along the travel surface of the sub-tracks or the main tracks. Two sub-channel laser sensors are mirror-mounted on two edges of one side of the four-way shuttle, with the extension direction of the main track as the axis of symmetry. The emission direction of each sub-channel laser sensor is parallel to that of the sub-track. The extension direction is set at an angle; a main channel laser sensor is installed on both sides of the four-way shuttle along 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. The sub-channel laser sensor and the main channel laser sensor can respectively detect the distance between the obstacle on the main track or the sub-track and the four-way shuttle; an offset laser sensor is installed vertically at the four corners of the four-way shuttle. 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 goods and the four-way shuttle.

[0005] Furthermore, during the handling of 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 pallet recognition sensors; the pallet sensing sensors are installed vertically on both sides of the main frame of the four-way shuttle, and each pallet sensing sensor can detect whether the pallet is placed on the storage location of the three-dimensional rack.

[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 raised, the laser recognition sensor can identify whether the pallet placed on the shelf is in the correct location.

[0008] Furthermore, several pallet positions for placing pallets are sequentially arranged above the sub-track along its extension direction. The pallets located on the pallets carry goods. On the running surface of the sub-track, several pallet positioning codes corresponding to each pallet position are affixed. The four-way shuttle is equipped with a barcode scanner, and the scanning direction of the barcode scanner is directly opposite the area on the running surface of the sub-track where the pallet positioning codes are affixed. The barcode scanner can identify the information of the pallet positioning codes, thereby positioning the four-way shuttle on the sub-track.

[0009] Furthermore, several parallel sub-tracks intersect the main track at their respective reversing areas. These reversing areas are equidistantly distributed along the extension direction of the main track. Each sub-track has a reversing positioning code affixed to its running surface within the reversing area. The barcode scanner can identify the information of the reversing positioning code, thereby positioning the four-way shuttle on the main track.

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

[0011] Step 1: Affix a cargo location code to the travel surface of each sub-track corresponding to each cargo location, and affix a reversing location code to the travel surface of each sub-track located in the reversing area;

[0012] Step 2: Two sub-channel laser sensors are mirror-mounted at the two edges on one side of the four-way shuttle, with the extension direction of the main track as the axis of symmetry. 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, with the emission direction of the main channel laser sensors parallel to the extension direction of the main track;

[0014] Step 4: Vertically install offset laser sensors at the four corners of the four-way shuttle, with the emission direction of the offset laser sensors perpendicular to the lifting surface of the four-way shuttle;

[0015] Step 5: Install a barcode scanner on the four-way shuttle, ensuring that the scanning direction of the barcode scanner is directly opposite the area where the cargo location code and reversing location code are pasted on the sub-track travel surface;

[0016] Step Six: 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 four-way shuttle to brake suddenly; the barcode scanner scans the reversing positioning code sequentially as the four-way shuttle travels and positions 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 are obstacles on the sub-track and can control the four-way shuttle to brake suddenly; the barcode scanner scans the cargo location code sequentially as the four-way shuttle travels and positions the four-way shuttle.

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

[0019] Step Nine: During the retrieval process below the storage location, the pallet sensing sensor can detect whether there is a pallet carrying goods at the target storage location.

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

[0021] Beneficial effects: The four-way shuttle multi-safety detection system and its 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. The sub-channel laser sensor and the main channel laser sensor can monitor in real time whether there are obstacles on the shuttle's travel track. The sub-channel laser sensor set at an angle to the extension direction of the sub-channel can avoid the influence of goods and shelf components on the four-way shuttle's handling process. The laser recognition sensor and the pallet recognition sensor can also transmit the status of the goods to the warehouse management system in a timely manner, which facilitates the warehouse management system to update the goods information in the warehouse in a timely manner. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the installation of a four-way shuttle vehicle multi-safety detection system according to the present invention on a four-way shuttle vehicle;

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

[0024] Figure 3This is a schematic diagram of a laser recognition sensor in operation.

[0025] Figure 4 This is a diagram showing the functional modules of the four-way shuttle.

[0026] Figure 5 This is a schematic diagram showing the distribution of various sensors on the four-way shuttle from a top-down perspective.

[0027] Figure 6 This is a schematic diagram of the structure of the four-way shuttle traveling on the shuttle track in the first embodiment of the present invention;

[0028] Figure 7 This is a diagram showing the location distribution of the storage locations and positioning codes of the automated shelving system 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] Figure 9 This is a top-down view of the distribution of the sensors on the four-way shuttle in the second embodiment of the present invention.

[0031] Figure 10 This is a schematic diagram of the structure of the four-way shuttle traveling on the shuttle track in the second embodiment of the present invention;

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

[0033] Figure 12 This is a diagram showing the location distribution of the shelf and signal receiver in the second embodiment of the present invention. Detailed Implementation

[0034] The invention will now be further described with reference to the accompanying drawings.

[0035] like Figure 1 and 2As shown; a four-way shuttle multi-safety detection system and its detection method, including a three-dimensional rack, a shuttle travel track, and a four-way shuttle 1. The three-dimensional rack is erected on both sides of the shuttle travel track, which is composed of several transverse main tracks 12 and longitudinal sub-tracks 11. The sub-tracks 11 or main tracks 12 are the travel surfaces along which the four-way shuttle 1 can move in four directions. Two sub-channel laser sensors 4 are mirror-mounted on both edges of one side of the four-way shuttle 1, with the extension direction of the main track 12 as the axis of symmetry. The sub-channel laser sensors 4 can sense the attenuation of the distance signal between obstacles on the sub-channel 11 and the four-way shuttle 1. The emission direction of each sub-channel laser sensor 4 is set at an angle to the extension direction of the sub-track 11, which not only expands the detection range but also reduces the interference of the rack to the four-way shuttle 1 during operation. The four-way shuttle 1 has two central areas on both sides along the extension direction of the sub-track 12. Two main channel laser sensors 6 are installed in each of the intersecting domains. The main channel laser sensors 6 can sense the attenuation of the distance signal between obstacles on the main channel 12 and the four-way shuttle 1. The emission direction of the main channel laser sensors 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. The cooperative detection of the sub-channel laser sensors 4 and the main channel laser sensors 6 can prevent the four-way shuttle 1 from colliding with obstacles on the track. Offset laser sensors 3 are installed vertically at the four corners of the four-way shuttle 1. 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. That is, the cooperative detection between the offset laser sensors 3 can detect whether the goods on the lifting surface of the four-way shuttle 1 have shifted relative to the lifting surface of the four-way shuttle 1.

[0036] like Figure 6As shown, during the handling of goods, when the pallet carrying the goods placed on the lifting surface of the four-way shuttle 1 shifts from the lifting surface of the four-way shuttle 1 or the goods shift from the bearing surface of the pallet due to problems such as sudden stops, vibrations, and collisions during the handling 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, thereby making the projection distance of the offset detection laser 301 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 the 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 four-way conveyor 1 to brake suddenly through the PLC control system 17. The offset laser sensor 3 can adjust the detection range according to the different materials of the pallet.

[0037] like Figure 4 As shown, it also includes a pallet identification sensor 2; the pallet identification sensor 2 can be selected according to the pallet material and type, such as ultrasonic sensors and laser sensors; the pallet sensing sensor 2 is installed vertically on both sides of the main frame of the four-way shuttle 1, and each pallet sensing sensor 2 can sense the pallet, and the two pallet sensing sensors 2 are asymmetrically staggered; when the four-way shuttle 1 reaches 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 data of the warehouse management system to verify the consistency of the information; if the pallet sensing sensor 2 detects abnormal attenuation of the pallet reflection signal during the handling process, it triggers the emergency braking of the four-way shuttle 1.

[0038] like Figure 3 As shown, it also includes a laser recognition sensor 5. The laser recognition sensor 5 is 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 area 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 direction. After reversing, the laser recognition sensor 5 emits a first recognition laser 501 to identify the information of the goods placed on the shelf and compares the identified data with the warehouse management system data to avoid the situation where goods are placed in the wrong storage location 18 in the warehouse.

[0039] like Figure 7 and 8As shown, in the first embodiment of the present invention, several pallet positions 18 for placing pallets are arranged sequentially above each of the sub-tracks 11 along the extension direction of the sub-track 11. The pallets located on the pallet positions 18 carry goods. When the four-way shuttle 1 receives the handling signal, the four-way shuttle 1 only needs to 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 change direction and travel along the sub-track 12 to the lower part of the pallet position 18 where the target goods are located to perform the lifting movement to complete the handling of the target goods.

[0040] On the running surface of the sub-track 11, a number of cargo location codes 19 corresponding to each cargo location 18 are affixed. The four-way shuttle 1 is equipped with a barcode scanner 20. 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 codes 19 are affixed. The barcode scanner 20 can identify the information of the cargo location codes 19, thereby positioning the four-way shuttle 1 on the sub-track 11.

[0041] Several parallel sub-tracks 11 intersect the main track 12 at their respective reversing areas 17. The reversing areas 17 are equidistantly distributed along the extension direction of the main track 12. Each sub-track 11 has a reversing positioning code 21 affixed to its running surface within the reversing area 17. The barcode scanner 20 can identify the information of the reversing positioning code 21, thereby positioning the four-way shuttle 1 on the main track 12.

[0042] When the four-way shuttle 1 travels on the main track 12, the barcode scanner 20 scans the reversing positioning codes 21 in each reversing area 17 sequentially as the four-way shuttle 1 travels, and compares the identified reversing positioning code 21 information 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 storage location 18 of the target goods is connected to the main track 12, the barcode scanner 20 transmits a reversing signal to the PLC control system. The PLC control system controls the four-way shuttle 1 to stop on 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 changing the four-way shuttle 1 from traveling along the main track 12 to traveling along the sub-track 11.

[0043] When the four-way shuttle 1 travels on the sub-track 11, the barcode scanner 20 scans the location codes 19 affixed to the travel surface of the sub-track 11 sequentially as the four-way shuttle 1 travels. The scanner compares the identified location code 19 information with the data in the warehouse management system. When the barcode scanner 20 identifies the location code 19 corresponding to the location 18 where the target goods are located, the barcode scanner 20 transmits a handling signal to the PLC control system. The PLC control system controls the four-way shuttle 1 to stop below the location 18 corresponding to the location code 19 and controls the lifting plate of the four-way shuttle 1 to lift, thereby detaching the pallet carrying the target goods from the location 18, thus completing the retrieval process.

[0044] like Figure 4 As shown, the internal structure of the four-way shuttle 1 adopts a modular design. The driving motor and reversing motor that control the driving and reversing actions of the four-way shuttle 1 are located in the drive area 7. The power battery pack that provides energy to the four-way shuttle 1 is located in the energy area 8. The electrical control box that controls all electrical components on the four-way shuttle 1 is located in the electrical control area 9. The mechanical transmission mechanism that realizes the lifting movement of the four-way shuttle 1 is located in the reversing structure area 10. This arrangement makes the structure of the four-way shuttle 1 more compact, thus making the four-way shuttle 1 more compact and able to complete the handling work on a more compact three-dimensional rack.

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

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

[0047] Step 1: Affix a cargo location code 19 to the travel surface of each sub-track 11 corresponding to each cargo location 18, and affix a reversing location code 21 to the travel surface of each sub-track 11 located within the reversing area 17;

[0048] Step 2: Two sub-channel laser sensors 4 are mirror-mounted at the two edges on one side of the four-way shuttle 1 with the extension direction of the main track 12 as the axis of symmetry. 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 four-way shuttle 1 along the extension direction of the sub-track 12. 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 install offset laser sensors 3 at the four corners of the four-way shuttle 1, with the emission direction of the offset laser sensors 3 perpendicular to the lifting surface of the four-way shuttle 1;

[0051] Step 5: Install a barcode scanner 20 on the four-way shuttle 1, so that the scanning direction of the barcode scanner 20 is directly opposite to the area where the cargo positioning code 19 and the reversing positioning 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 are obstacles on the main track 12 and can control the four-way shuttle 1 to brake suddenly; the barcode scanner 20 scans the reversing positioning code 21 sequentially as the four-way shuttle 1 travels and positions 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 are obstacles on the sub-track 11 and can control the four-way shuttle 1 to brake suddenly; the barcode scanner 20 scans the cargo location code 19 sequentially as the four-way shuttle 1 travels and positions 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 checks whether the pallets of the three-dimensional shelves on both sides of the sub-track 11 are in the correct storage location 18.

[0055] Step Nine: During the retrieval process below storage location 18, the pallet sensing sensor 2 can detect whether there is a pallet carrying goods on the target storage location 18.

[0056] Step 10: During the handling process, the offset laser sensor 3 detects whether the pallet carrying the goods is offset from the travel surface of the four-way shuttle 1, and can control the four-way shuttle 1 to brake suddenly.

[0057] The above content is the first embodiment of the present invention. In the first embodiment, although it can deal 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, the four-way shuttle 1 may deviate from the travel surface of the main track 12 or the sub-track 11. In addition, the interval between the cargo positions on the two adjacent sub-tracks 11 is too small, which can easily cause the cargo on the four-way shuttle 1 to collide and collapse with the cargo in the cargo position 18 during the handling process. Furthermore, too many sensors are installed on the four-way shuttle 1, which can 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, several pallet positions 18 for placing pallets are arranged sequentially on both sides of each sub-track 11 along the extension direction of the sub-track 11. The pallets located on the pallet positions 18 carry goods. A transport aisle is arranged below the pallet positions 18 perpendicular to the sub-track 11. When the four-way shuttle 1 receives the 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. Then, after changing direction, it travels along the sub-track 12 to the position corresponding to the pallet position 18 where the target goods are located on the sub-track 12. Then, it controls the four-way shuttle 1 to enter the aisle below the pallet position 18 where the target goods are located and to perform a lifting movement, thereby completing the transport of the target goods.

[0059] like Figure 10 and 12 As shown, in the second embodiment, a signal receiver 13 and a reflective strip 15 are also included. The automated shelving system has several shelving columns, and each of these columns is equipped with a corresponding signal receiver 13. The signal receiver 13 can receive laser signals emitted by the main channel laser sensor 6 or the sub-channel laser sensor 4 and generate corresponding main track positioning data or sub-track positioning data. The reflective strip 15 is attached to the lower surface of the main track 12 or the sub-track 11. The reflective strip 15 has reflective characteristics that match the wavelength of the offset detection laser 301 emitted by the offset laser sensor 3. Therefore, the reflective strip 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 to receive the light spot of the offset detection laser 301 after being reflected by the reflective strip 15. When the offset detection laser 301 emitted by the laser sensor 3 is blocked by a pallet or cargo, it will cause the four-way shuttle to brake suddenly. When the laser sensor 3 does not receive the light spot formed by the offset detection laser 301 after being reflected by the reflective strip 15, the laser sensor 3 will also control the four-way shuttle to brake suddenly.

[0060] Because the four-way shuttle 1 generates vibrations while traveling on the track, these vibrations are transmitted through the automated racking system to the stacks of goods located at the racking positions 18. This causes slight shifts between several units of goods within the stacks, resulting in a shift in the stacks themselves. Therefore, as... Figure 11As shown, in the second embodiment of this solution, the laser recognition sensor 5 is selected as a laser sensor that can emit two different lasers and has image recognition function. When the four-way shuttle 1 reaches the intersection area 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 direction. After reversing, the laser recognition sensor 5 emits the first recognition laser 501, which 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. Then, the four-way shuttle 1 enters the area below the storage location 18 to transport the target goods. After the lifting plate lifts the pallet carrying the goods on the storage location 18 of the automated storage and retrieval system, 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 on the side closest to the target goods. Based on 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 tilt of the other group of goods next to the target goods toward the target goods, thereby avoiding collision between the target goods and the other group of goods next to the target goods during the process of the four-way shuttle 1 pulling the target goods out of the storage location 18.

[0061] In the second embodiment of this solution, a detection method for a four-way shuttle vehicle multi-safety detection system is provided:

[0062] Step 1: Deploy signal receivers 13; Set up signal receiver arrays on several shelf columns on both sides of the main track 12 and sub-track 11 of the automated racking system. The signal receiver array includes several signal receivers 13, and each of the several shelf columns has a corresponding signal receiver 13. The signal receivers 13 are used to receive laser signals emitted by the four-way shuttle 1 and generate positioning data.

[0063] Step 2: Apply reflective tape 15; Apply reflective tape 15 to the lower surface of main track 12 or sub-track 13 along the length direction of main track 12 or sub-track 13. The reflective tape 15 has reflective characteristics that match the wavelength of offset detection laser 301 emitted by offset laser sensor 3.

[0064] Step 3: Install laser sensors; Install sub-channel laser sensors 4 on both sides of the four-way shuttle 1 along the extension direction of the sub-track 11. The emission direction of the sub-channel laser sensors 4 is set at an adjustable angle with the extension direction of the sub-track 11 so that the emitted laser beam forms an intersecting coverage area in front of the sub-track 11.

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

[0066] Offset laser sensors 3 are vertically installed at the four corners of the four-way shuttle 1, and the emission of the offset laser sensors 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 travels on the main track 12, the signal receivers 13 installed on each shelf column distributed along the extension direction of the main track 12 receive the laser signals emitted by the sub-channel laser sensors 4 and generate main track positioning data, which is transmitted to the PLC control system 17. The PLC control system 17 controls the four-way shuttle 1 to continue 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 sub-track 11; When the four-way shuttle 1 travels on the sub-track 11, the signal receivers 13 installed on each shelf column 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, which is transmitted to the PLC control system 17. The PLC control system 17 controls the four-way shuttle 1 to continue or stop according to the sub-track positioning data, thereby positioning the four-way shuttle 1 on the main track 12.

[0069] Step Six: Offset Detection and Emergency Braking; During the process of the four-way shuttle 1 carrying goods traveling on the main track 12 or sub-track 11, the offset detection laser 301 emitted by the offset laser sensor 3 is projected onto the reflective strip 15 and the reflected light spot signal is received; thereby, it monitors in real time whether the four-way shuttle 3 is offset from the travel surface of the main track 12 or sub-track 11 during its travel on the three-dimensional rack, and inputs the detection data after the offset occurs 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 brake in an emergency;

[0070] Step 7: Dynamic detection of obstacles; When the four-way shuttle 1 is traveling on the main track 12 or sub-track 11 of the three-dimensional rack carrying goods, 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 brake urgently.

[0071] like Figure 10As shown, in step two, since the automated storage and retrieval system can store goods not only in one plane, but also in multiple parallel planes of different heights, each storage layer is equipped with a shuttle track consisting of several horizontal main tracks 12 and vertical sub-tracks 11 intersecting each other. The main tracks 12 and sub-tracks 11 on each layer's shuttle track are parallel and have the same structural distribution. Therefore, when the four-way shuttle 1 travels on its own layer's shuttle track, the four-way shuttle 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 sub-track 11 located one level above the four-way shuttle 1. Therefore, when the four-way shuttle 1 deviates from the travel surface of the main track 12 or sub-track 11 on its own travel track, the offset detection laser 301 emitted by the offset laser sensor 3 on the four-way shuttle 1 will be refracted by the reflection strip 15 on the lower surface of the main track 12 or sub-track 11 from the previous one, causing the position of the reflected light spot received by the offset laser sensor 3 to shift. Therefore, the offset laser sensor 3 can prevent accidents caused by the four-way shuttle 1 deviating from the travel surface of the main track 12 or sub-track 11 during its travel on the main track 12 or sub-track 11.

[0072] like Figure 12 As shown, in step three, there are four sub-channel laser sensors 4. Each sub-channel laser sensor 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 both ends of the four-way shuttle 1 along the extension direction of the sub-track 11. 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 axis of symmetry. 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 projected onto the edges of both sides of the sub-track 11. 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 onto the surface of an obstacle 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. After the intersection of 03, the extended lasers 402 of each of their sub-channel monitoring lasers are set at an angle to the edges on both sides of the sub-track 11. When the components or pallets carrying goods on the three-dimensional rack protrude from the travel surface of the sub-track 11 or when there are other obstacles on the travel surface of the sub-track 11, the extended lasers 402 of the sub-channel monitoring lasers can detect the distance between the components or pallets carrying goods on the three-dimensional rack or other obstacles on the travel surface of the sub-track 11 and the four-way shuttle 1, and transmit the distance data to the PLC control system 17. The PLC control system 17 controls the four-way shuttle 1 to brake suddenly.

[0074] Simultaneously, a key identification database 18 can be established in the PLC control system 17. During normal use, the key identification database 18 will continuously learn autonomously 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 will identify all data corresponding to all warning positions 16 where the four-way shuttle 1 deviates from the travel 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 will reduce the travel speed of the four-way shuttle 1, thereby ensuring that the four-way shuttle 1 does not deviate from the travel surface of the main track 12 or the sub-track 11 as much as possible on the road section where the warning position 16 is located.

[0075] The above are the preferred embodiments described in this invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this invention, and these improvements and modifications should also be considered within the scope of protection of this invention.

Claims

1. A multi-safety detection system for a four-way shuttle vehicle, characterized in that: The system includes a three-dimensional rack, a shuttle track, and a four-way shuttle (1). The three-dimensional rack is mounted on both sides of the shuttle track, which is composed of several horizontal main tracks (12) and vertical sub-tracks (11). The four-way shuttle (1) can move in four directions along the running surface of the sub-tracks (11) or the main tracks (12). Two sub-channel laser sensors (4) are mirror-mounted on the 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. 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 (1) moves along the sub-tracks. (11) A main channel laser sensor (6) is installed on both sides of the extension direction. 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 sensor (4) and the main channel laser sensor (6) can detect the distance between the obstacle on the main track (12) or the sub-track (11) and the four-way shuttle (1). An offset laser sensor (3) is installed vertically at the four corners of the four-way shuttle (1). The emission direction of the offset laser sensor (3) is perpendicular to the lifting surface of the four-way shuttle (1). The offset laser sensor (3) can detect the relative position of the goods and the four-way shuttle (1). It also includes a laser recognition sensor (5), which is installed in the reversing structure area (10) on the four-way shuttle (1). The laser recognition sensor (5) can emit two different lasers and has image recognition function. When the four-way shuttle (1) reaches the intersection area of ​​the sub-track (11) and the main track (12) where the target goods are located, the reversing structure area (10) on the four-way shuttle (1) reverses direction. After reversing, the laser recognition sensor (5) emits a first recognition laser (501) to recognize the nameplate on the side wall of the pallet placed on the shelf. When the data it recognizes matches the target goods, the four-way shuttle... The shuttle (1) enters the storage location (18) below to transport the target goods. When the lifting motion of the lifting plate of the four-way shuttle (1) lifts the pallet carrying the goods on the storage location (18) of the three-dimensional rack, the laser recognition sensor (5) emits a second recognition laser (502). 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 on the side closer to the target goods. The laser recognition sensor (5) can obtain the degree of tilt of the other group of goods next to the target goods towards the target goods based on the synergistic effect of the first recognition laser (501) and the second recognition laser (502).

2. The four-way shuttle vehicle multi-safety detection system according to claim 1, characterized in that: During the handling of goods, the offset laser sensor (3) can detect whether there is an offset between the pallet carrying the goods placed on the lifting surface of the four-way shuttle (1) and the lifting surface of the four-way shuttle (1).

3. The four-way shuttle vehicle multi-safety detection system according to claim 1, characterized in that: It also includes a pallet sensing sensor (2); the pallet sensing sensor (2) is installed vertically on both sides of the main frame of the four-way shuttle (1), and each pallet sensing sensor (2) can sense whether the pallet is placed on the storage position (18) of the three-dimensional rack.

4. The four-way shuttle vehicle multi-safety detection system according to claim 3, characterized in that: Above the sub-track (11), along the extension direction of the sub-track (11), there are several storage positions (18) for placing pallets. The pallets located on the storage positions (18) carry goods. On the running surface of the sub-track (11), there are several storage position positioning codes (19) corresponding to each storage position (18). The four-way shuttle (1) is equipped with a barcode scanner (20). 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 storage position positioning codes (19) are pasted. The barcode scanner (20) can identify the information of the storage position positioning codes (19) so as to locate the four-way shuttle (1) on the sub-track (11).

5. The four-way shuttle vehicle multi-safety detection system according to claim 4, characterized in that: Several parallel sub-tracks (11) intersect the main track (12) at their respective reversing areas (17). The reversing areas (17) are equidistantly distributed along the extension direction of the main track (12). Each sub-track (11) has a reversing positioning code (21) affixed to its running surface within the reversing area (17). The barcode scanner (20) can identify the information of the reversing positioning code (21) to locate the four-way shuttle (1) on the main track (12).

6. The detection method of a four-way shuttle vehicle multi-safety detection system according to claim 5, characterized in that: Step 1: Affix a cargo location code (19) to the driving surface of each of the sub-tracks (11) corresponding to each cargo location (18), and affix a reversing location code (21) to the driving surface of each of the sub-tracks (11) located in the reversing area (17). Step 2: Two sub-channel laser sensors (4) are mirror-mounted at the two edges on one side of the four-way shuttle (1) with the extension direction of the main track (12) as the axis of symmetry. 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: Install main channel laser sensors (6) on both sides of the four-way shuttle (1) along the extension direction of the sub-track (11), with the emission direction of the main channel laser sensors (6) being parallel to the extension direction of the main track (12); Step 4: Vertically install offset laser sensors (3) at the four corners of the four-way shuttle (1), with the emission direction of the offset laser sensors (3) perpendicular to the lifting surface of the four-way shuttle (1); Step 5: Install a barcode scanner (20) on the four-way shuttle (1) so that the scanning direction of the barcode 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); Step 6: When the four-way shuttle (1) is traveling on the main track (12), the main channel laser sensor (6) detects whether there are obstacles on the main track (12) and can control the four-way shuttle (1) to brake in an emergency; the barcode scanner (20) scans the reversing positioning code (21) sequentially as the four-way shuttle (1) travels, and positions the four-way shuttle (1); Step 7: When the four-way shuttle (1) is traveling on the sub-track (11), the sub-channel laser sensor (4) detects whether there are obstacles on the sub-track (11) and can control the four-way shuttle (1) to brake suddenly; the barcode scanner (20) scans the cargo location code (19) sequentially as the four-way shuttle (1) moves and positions the four-way shuttle (1); Step 8: After the four-way shuttle (1) changes direction in the intersection area of ​​the sub-track (11) and the main track (12), the laser recognition sensor (5) emits the first recognition laser (501) to recognize the nameplate on the side wall of the pallet placed on the shelf; when the data recognized by the laser recognition sensor (5) matches the target goods, the four-way shuttle (1) enters the area below the location (18) of the target goods to transport the target goods; Step 9: When the four-way shuttle (1) is picking up goods under the storage location (18), the pallet sensing sensor (2) can sense whether there is a pallet carrying goods on the storage location (18): When the lifting movement of the lifting plate of the four-way shuttle (1) lifts the pallet carrying goods on the storage location (18) of the three-dimensional rack upward, the laser recognition sensor (5) emits a second recognition laser (502). The projection point of the second recognition laser (502) is always aligned with the top of the other group of goods next to the target goods on the side 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 tilt of the other group of goods next to the target goods towards the target goods, so as to avoid the target goods from colliding with the other group of goods next to the target goods. Step 10: During the handling 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 brake in an emergency.

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