Control method of high-altitude walking type carrying vehicle and high-altitude walking type carrying vehicle system

Abstract

The invention discloses a control method of a high-altitude walking type carrier and a high-altitude walking type carrier system. The control method of the high-altitude walking type carrying vehicle can be executed by a processor so as to control the walking speed of the high-altitude walking type carrying vehicle on a high-altitude track. The control method of the high-altitude walking type carrying vehicle comprises the step of executing a pre-turning judgment step before the high-altitude walking type carrying vehicle is ready to enter a turning section of a high-altitude track. In the process that the high-altitude walking type carrying vehicle moves along the turning section, the turning judgment step is executed at least once. In the pre-bend-entering judgment step and the middle-bend-entering judgment step, the processor judges whether obstacles appear in front of the high-altitude walking type carrying vehicle and in the recognition ranges or not by using different recognition ranges, and the speed of the high-altitude walking type carrying vehicle is reduced if the obstacles appear.

Description

Technical Field

[0001] The present application relates to a control method for a transporter and a transporter system, and particularly to a control method for an aerial walking transporter and an aerial walking transporter system. Background Art

[0002] Aerial walking transporters have been widely used in various high-tech factories, such as semiconductor factories. For manufacturers, if the moving speed of the aerial walking transporter can be increased, the overall production efficiency of the factory can be further improved. In actual applications, common existing aerial walking transporters often misjudge that there are obstacles ahead, resulting in a problem of reducing their walking speed. Therefore, it will directly or indirectly affect the production efficiency of the factory. Summary of the Invention

[0003] The present application discloses a control method for an aerial walking transporter and an aerial walking transporter system, which are used to improve the problem that existing aerial walking transporters are prone to misjudge that there are obstacles ahead, thus reducing their walking speed.

[0004] One embodiment of the present application discloses a control method for an aerial walking transporter, which can be executed by a processor to control the walking speed of an aerial walking transporter on an aerial track. The control method of the aerial walking transporter includes: before the aerial walking transporter is about to enter a turning section of the aerial track, the following steps are executed: a pre-turn judgment step: using the processor, controlling an obstacle detection module of the aerial walking transporter to scan the front of the aerial walking transporter, and making the obstacle detection module identify whether there are obstacles in a pre-turn recognition range with a pre-turn recognition range, and generating a corresponding pre-turn recognition information; if the processor determines that there are obstacles in the pre-turn recognition range according to the pre-turn recognition information, the vehicle speed of the aerial walking transporter is reduced; wherein, the pre-turn recognition range covers an entry position and an exit position of a turning section; during the process of the aerial walking transporter moving along the turning section, at least the following steps are executed once: a mid-turn judgment step: using the processor to control the obstacle detection module to scan the front of the aerial walking transporter, and making the obstacle detection module identify whether there are obstacles in a mid-turn recognition range with a mid-turn recognition range, and generating a corresponding mid-turn recognition information; if the processor determines that there are obstacles in the mid-turn recognition range according to the mid-turn recognition information, the vehicle speed of the aerial walking transporter is reduced; wherein, the mid-turn recognition range is smaller than the pre-turn recognition range; wherein, when the number of times the processor controls the aerial walking transporter to reduce the vehicle speed exceeds a default number of times, the vehicle speed of the aerial walking transporter will be reduced to 0; the default number of times is not less than 2.

[0005] Optionally, in the pre-turn judgment step, if it is determined that no obstacle appears in the pre-turn recognition range, the speed of the aerial walking type transporter is not reduced, and the aerial walking type transporter enters the turning section at the current speed.

[0006] Optionally, before the pre-turn judgment step, the aerial walking type transporter travels at a straight-line speed; in the pre-turn judgment step, if it is determined that an obstacle appears in the pre-turn recognition range, the speed of the aerial walking type transporter is reduced to a first speed; if it is determined that no obstacle appears in the pre-turn recognition range, the speed of the aerial walking type transporter is reduced to a second speed; the first speed is lower than the second speed, and the second speed is lower than the straight-line speed.

[0007] Optionally, in the mid-turn judgment step, if an obstacle appears in the mid-turn recognition range, the speed of the aerial walking type transporter is reduced to a third speed; the third speed is lower than the first speed and lower than the second speed.

[0008] Optionally, the mid-turn recognition range is less than at least 60% of the pre-turn recognition range.

[0009] Optionally, during the process of the aerial walking type transporter passing through the turning section, the processor executes the mid-turn judgment step at least twice.

[0010] Optionally, the control method of the aerial walking type transporter further includes an out-turn judgment step: determining whether the aerial walking type transporter has passed through the turning section and entered a straight section; if it is determined that the aerial walking type transporter has left the turning section and entered the straight section, controlling the obstacle detection module to scan the front of the aerial walking type transporter, and enabling the obstacle detection module to identify whether an obstacle appears in the out-turn straight recognition range with an out-turn straight recognition range, and generating corresponding out-turn straight recognition information; if the processor determines that no obstacle appears in the out-turn straight recognition range based on the out-turn straight recognition information, controlling the aerial walking type transporter to travel at an out-turn straight speed; the out-turn straight speed is greater than the speed of the aerial walking type transporter at any position in the turning section.

[0011] Optionally, the processor can obtain a sensing information of an inclination sensor arranged on the aerial walking type transporter, and the processor can determine whether the aerial walking type transporter has entered the turning section according to the sensing information; when the processor determines that the aerial walking type transporter enters the turning section, the processor will execute the mid-turn judgment step.

[0012] Optionally, before the pre-turn judgment step, a position judgment step is repeatedly executed: the processor receives a real-time position information to determine whether the aerial walking type transporter is ready to enter the turning section; if it is determined that the aerial walking type transporter is ready to enter the turning section, the pre-turn judgment step is executed.

[0013] Optionally, before the aerial walking forklift enters the turning section, if the aerial walking forklift is traveling along a straight section of the aerial track, the processor controls the obstacle detection module to scan the front of the aerial walking forklift, and makes the obstacle detection module identify whether there is an obstacle in the straight recognition range before turning with a straight recognition range before turning, and generates a corresponding straight recognition information before turning; if the processor determines that there is no obstacle in the straight recognition range before turning based on the straight recognition information before turning, it controls the aerial walking forklift to travel at a straight speed before turning; the straight speed before turning is greater than the speed of the aerial walking forklift at any position in the turning section; wherein, the straight recognition range before turning covers the turning position.

[0014] Optionally, during the process of the aerial walking forklift moving along the turning section, the in-turn judgment step is executed multiple times, and at least two of the in-turn recognition ranges of the in-turn judgment steps are different; the in-turn recognition range in any in-turn judgment step is smaller than the pre-turn recognition range.

[0015] Optionally, the following steps are executed before the aerial walking forklift is about to leave the turning section of the aerial track: a judgment step before leaving the turn: use the processor to control the obstacle detection module to scan the front of the aerial walking forklift, and make the obstacle detection module identify whether there is an obstacle in the recognition range before leaving the turn with a recognition range before leaving the turn, and generate a corresponding recognition information before leaving the turn; if the processor determines that there is an obstacle in the recognition range before leaving the turn based on the recognition information before leaving the turn, it reduces the speed of the aerial walking forklift; wherein, the recognition range before leaving the turn covers the leaving position of the turning section; the recognition range before leaving the turn is different from the in-turn recognition range.

[0016] One embodiment of the present application discloses an aerial walking forklift, which includes: a processor; a vehicle body provided with a plurality of drive wheels; a drive module electrically connected to the processor, the drive module can drive the drive wheels to make the aerial walking forklift travel along an aerial track; an obstacle detection module disposed on the vehicle body, the obstacle detection module can scan the front of the vehicle body, and identify whether there is an obstacle in one of a variety of default recognition ranges, and generate a corresponding recognition information accordingly; wherein, the variety of default recognition ranges are different from each other; wherein, the processor can control the obstacle detection module to scan the front of the aerial walking forklift according to the real-time position of the aerial walking forklift, and identify whether there is an obstacle in one of the default recognition ranges, and generate the corresponding recognition information; when the processor determines that there is an obstacle in the default recognition range based on the recognition information, the processor will control the drive module to reduce the speed of the aerial walking forklift.

[0017] Optionally, the processor can, according to the real-time position, before the aerial walking vehicle enters a turning section of the aerial track, control the obstacle detection module to identify a default recognition range with a larger scope, and determine whether there is an obstacle in front of the aerial walking vehicle; the processor can, according to the real-time position, during the process of the aerial walking vehicle passing through the turning section, instead identify a default recognition range with a smaller scope, and determine whether there is an obstacle in front of the aerial walking vehicle.

[0018] Optionally, the processor can execute the control method of the aerial walking vehicle of the present application.

[0019] One embodiment of the present application discloses an aerial walking vehicle system, which includes: the aerial walking vehicle of the present application and an aerial track.

[0020] In summary, the control method of the aerial walking vehicle and the aerial walking vehicle system of the present application, through designs such as the pre-turn judgment step and the in-turn judgment step, can effectively improve the existing aerial walking vehicle, which often misjudges that there is an obstacle in front, thereby reducing its walking speed problem.

[0021] For a further understanding of the features and technical content of the present application, please refer to the following detailed description and drawings of the present application. However, these descriptions and drawings are only used to illustrate the present application and do not impose any limitation on the protection scope of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a block diagram of the aerial walking vehicle system of the present application.

[0023] Figure 2 It is a schematic diagram of the aerial walking vehicle of the present application.

[0024] Figure 3 It is a rear view of the aerial walking vehicle of the present application located in the turning section of the aerial track.

[0025] Figure 4 It is a schematic diagram of the top view of the aerial walking vehicle of the present application, the scanning range of the obstacle detection module and one of the default recognition ranges.

[0026] Figure 5 It is a schematic diagram of the top view of the aerial walking vehicle of the present application, the scanning range of the obstacle detection module and another default recognition range.

[0027] Figure 6 It is a schematic diagram of the top view of the aerial walking vehicle of the present application traveling in the straight section of the aerial track and the straight-line recognition range before entering the turn.

[0028] Figure 7 The figure is a top view of the aerial walking forklift of the present application before entering the turning section of the aerial track and a schematic diagram of the recognition range before entering the bend.

[0029] Figure 8 The figure is a top view of the aerial walking forklift of the present application entering the turning section of the aerial track and a schematic diagram of the recognition range in one of the bends.

[0030] Figure 9 The figure is a top view of the aerial walking forklift of the present application entering the turning section of the aerial track and a schematic diagram of the recognition range in another bend.

[0031] Figure 10 The figure is a top view of the aerial walking forklift of the present application entering the turning section of the aerial track and a schematic diagram of the recognition range in another bend.

[0032] Figure 11 The figure is a top view of the aerial walking forklift of the present application entering the turning section of the aerial track and a schematic diagram of the recognition range in another bend.

[0033] Figure 12 The figure is a top view of the aerial walking forklift of the present application before entering the turning section of the aerial track and a schematic diagram of the recognition range before entering the bend.

[0034] Figure 13 The figure is a top view of the aerial walking forklift of the present application entering the turning section of the aerial track and a schematic diagram of the recognition range in one of the bends.

[0035] Figure 14 The figure is a top view of the aerial walking forklift of the present application entering the turning section of the aerial track and a schematic diagram of the recognition range in another bend. Detailed implementation manners

[0036] In the following description, if it is pointed out to refer to a specific figure or as shown in a specific figure, it is only used to emphasize that in the subsequent description, most of the related content mentioned appears in that specific figure, but it does not limit that only that specific figure can be referred to in the subsequent description.

[0037] Please refer to Figures 1 to 3 , Figure 1 which is a block diagram of the aerial walking forklift system of the present application, Figure 2 which is a schematic diagram of the aerial walking forklift of the present application, Figure 3 which is a rear view of the aerial walking forklift of the present application located in the turning section of the aerial track.

[0038] The aerial walking forklift system Z of the present application includes an aerial track R (as Figure 6as shown) and multiple high-altitude walking forklifts 100. The high-altitude track R is basically suspended at a position close to the ceiling, and the high-altitude walking forklift 100 moves in the air of the factory building along the high-altitude track R. In practical applications, the high-altitude walking forklift system Z may further include a central control module Z1 (such as an industrial computer, a server, etc.). The central control module Z1 is communicatively connected to a processor 1 of multiple high-altitude walking forklifts 100, and the central control module Z1 and each high-altitude walking forklift 100 can transmit information to each other. Thus, the central control module Z1 can know which position each high-altitude walking forklift 100 is currently located in the high-altitude track R, and the high-altitude walking forklift 100 can receive the information transmitted by the central control module Z1 and know which position to move to along the high-altitude track R to stop for loading and unloading of the object to be transported. The processor 1 is, for example, various industrial computers, etc., and is not limited herein. It should be noted that Figure 6 only a partial section of the high-altitude track R is shown in the figure, and the actual shape and length of the high-altitude track R can be designed according to actual needs.

[0039] Each high-altitude walking forklift 100 includes the processor 1, at least two movable vehicles, a carrying body 2, and an obstacle detection module 5. The carrying body 2 is connected to all the movable vehicles. The carrying body 2 is used to carry an object to be transported. Each movable vehicle includes a vehicle body 30, and the vehicle body 30 is rotatably connected to the carrying body 2. The two movable vehicles are respectively defined as a front vehicle 3A and a rear vehicle 3B. In practical applications, the carrying body 2 may, for example, be generally presented as a box structure, and the box structure can be used to contain the object to be transported. And in one embodiment, the object to be transported may, for example, be a wafer cassette, but is not limited thereto. Of course, the specific shape of the carrying body 2 can be changed according to the type and shape of the object to be transported, etc. In different embodiments, the carrying body 2 may further be provided with a holding mechanism 21 for holding a carrying box, and the object to be transported is arranged in the carrying box; for example, the carrying box may be a wafer cassette, and the object to be transported is a wafer. The number of movable vehicles included in the high-altitude walking forklift 100 is not limited to two, and in different embodiments, it may also be three or more.

[0040] In practical applications, the two mobile vehicles may include exactly the same or substantially the same electronic components and mechanical components, but are not limited thereto. The vehicle bodies 30 of the front vehicle 3A and the rear vehicle 3B may be respectively provided with a driving module 4, two driving wheels 31, a plurality of upper guiding wheels 32, a switching module 33, and a plurality of lower guiding wheels 34. The processor 1 is electrically connected to the driving module 4, and the driving module 4 is connected to the two driving wheels 31. The processor 1 can control the driving module 4 to rotate the two driving wheels 31, so that the aerial walking forklift 100 moves on the aerial track R. The driving module 4 includes, for example, a motor, a belt, and other related transmission components. The switching module 33 is disposed on the vehicle body 30, and the processor 1 can control the switching module 33 to actuate, so that the plurality of upper guiding wheels 32 move to the upper position (as shown in Figure 3 shown) or the lower position (as shown in Figure 2 shown). The plurality of lower guiding wheels 34 are disposed at the lower position of the vehicle body 30. In one embodiment, the switching module 33 may include, for example, a slide rail, a slider, a motor, a belt (or related transmission members such as gears), etc. Therefore, when the processor 1 controls the switching module 33 to actuate, the motor can drive the slider to move, thereby moving the upper guiding wheel 32 connected to the slider between the upper position and the lower position.

[0041] As shown in Figure 3 shown, when the driving wheels 31 of the mobile vehicle move on one side of the lower track R1 of the aerial track R, and two of the upper guiding wheels 32 in the lower position abut against the outer side of an upper turning guiding track R2 of the aerial track R, the entire vehicle body 30 will be inclined. At this time, the front vehicle 3A (rear vehicle 3B) can turn along the aerial track R. Among them, the upper turning guiding track R2 is disposed above the lower track R1, and the upper turning guiding track R2 can be used to cooperate with the upper guiding wheels 32 of the aerial walking forklift 100 to enable the aerial walking forklift 100 to turn. By allowing the front vehicle 3A (rear vehicle 3B) to turn in an inclined state, only one side of the driving wheels 31 of the front vehicle 3A (rear vehicle 3B) can be in contact with the lower track R1 of the aerial track R, and the driving wheels 31 on the other side of the front vehicle 3A (rear vehicle 3B) will not be in contact with the lower track R1. In this way, it is possible to avoid the problem that the front vehicle 3A (rear vehicle 3B) slips or even overturns due to the speed difference between the driving wheels 31 on the inner side and the outer side. The plurality of lower guiding wheels 34 are mainly used to abut against the side of the lower track R1, so that the front vehicle 3A (rear vehicle 3B) can turn more stably along the aerial track R.

[0042] The description of the above-mentioned aerial walking transporter 100 turning in an inclined manner along the aerial track R is only one example. In actual applications, the aerial walking transporter 100 can also achieve the effect that one of the driving wheels 31 does not contact the lower track R1 during turning through components completely different from the above description. Of course, in special applications, when the aerial walking transporter 100 turns along the aerial track R, it may not be in an inclined state.

[0043] The obstacle detection module 5 is preferably arranged at the bottom edge position of the bearing body 2 close to the vertical plane of the front vehicle 3A; however, in other embodiments, the obstacle detection module 5 can also be arranged in front of the vehicle body 30 of the front vehicle 3A, that is, the obstacle detection module 5 is arranged at the head vehicle position of the aerial walking transporter 100. The obstacle detection module 5 can scan the front of the vehicle body 30 and identify whether there is an obstacle in one of the multiple default recognition ranges, and generate a corresponding recognition information accordingly. Among them, the multiple default recognition ranges are different from each other.

[0044] It should be noted that in special applications of other embodiments, both the front vehicle 3A and the rear vehicle 3B can be provided with the obstacle detection module 5, and the processor 1 can determine which obstacle detection module 5 to use to detect whether there is an obstacle in front of the vehicle according to the traveling direction of the aerial walking transporter 100.

[0045] The obstacle detection module 5 includes, for example, a scanner and a scanning processor. The scanner includes, for example, at least one light emitter and at least one light receiver. The light emitter is used to emit light beams with a specific wavelength one by one to a specific range, and the light receiver is used to receive the light beams with the same wavelength. The scanning processor can judge the position of an obstacle at a certain distance in front of the light emitter according to the time of the light beams emitted by the light emitter and the time of the light beams received by the light receiver. The related technology of the obstacle detection module 5 using the light emitter and the light receiver to judge or depict the situation of the obstacle in front is the same as that of the existing laser scanner, and will not be elaborated here.

[0046] Please refer to Figure 4 and Figure 5 , Figure 4 is a top view of the aerial walking transporter of the present application, a schematic diagram of the scanning range of the obstacle detection module, and one of the default recognition ranges. Figure 5 is a top view of the aerial walking transporter of the present application, a schematic diagram of the scanning range of the obstacle detection module, and another default recognition range.

[0047] As Figure 4As shown, it is assumed that an obstacle detection module 5 is provided at the front position of the aerial walking forklift 100. The scanning range A of the obstacle detection module 5 is roughly a semi-circular area, and a first default recognition area A1 (the area marked with dots in the figure) of the obstacle detection module 5 is roughly the same as the scanning range A (the area marked with a two-point chain line in the figure). In this case, after the scanner of the obstacle detection module 5 scans the scanning range A, since there is an obstacle B in the first default recognition area A1, when the processor 1 receives the recognition information generated by the obstacle detection module 5, it will determine that there is an obstacle B in front of the aerial walking forklift 100.

[0048] As Figure 5 shown, correspondingly, if relevant personnel edit the first default recognition area A1 of the obstacle detection module 5 through software coding to generate Figure 5 a second default recognition area A2 as shown, then in Figure 5 this case, when the processor 1 analyzes the recognition information transmitted by the obstacle detection module 5, it will determine that there is no obstacle B in front of the aerial walking forklift 100 because there is no obstacle B in the second default recognition area A2.

[0049] As described above, the processor 1 can control the obstacle detection module 5 according to the real-time position of the aerial walking forklift 100, so that the obstacle detection module 5 scans the front of the aerial walking forklift 100 and uses one of the default recognition ranges to identify whether there is an obstacle in the default recognition range, and generates corresponding recognition information. When the processor 1 determines that there is an obstacle in the default recognition range based on the recognition information, the processor 1 will control the drive module 4 to reduce the speed of the aerial walking forklift 100.

[0050] In practical applications, for example, a plurality of recognition units (such as QR Codes, etc.) can be provided around the high-altitude track R, and the aerial walking forklift 100 can be provided with a reading unit (such as a barcode scanner, etc.). Therefore, when the reading unit of the aerial walking forklift 100 reads the recognition unit, the processor 1 can know the real-time position of the aerial walking forklift 100. The method for the processor 1 to obtain the real-time position of the aerial walking forklift 100 is not limited to the above description.

[0051] Through the above design, relevant personnel can plan multiple default recognition ranges according to the actual situation of the workshop where the aerial walking forklift 100 is located. Thus, when the aerial walking forklift 100 travels to different positions in the workshop, the processor 1 can use different default recognition ranges to determine whether there are obstacles in front of the vehicle. In this way, the processor 1 is not likely to make misjudgments, thereby effectively improving the transportation efficiency of the aerial walking forklift 100.

[0052] More specifically, in actual work, the erection of the aerial track R is planned according to the building structure of the workshop and the placement position of the equipment in the workshop. Therefore, if the obstacle detection module 5 uses exactly the same recognition range to judge obstacles, when the aerial walking forklift 100 travels on some sections of the aerial track, it is easy to occur that although there are actually no obstacles on the aerial track R that will block the progress of the aerial walking forklift 100, the obstacle detection module 5 misjudges the equipment set beside the aerial track R as an obstacle, thereby reducing the vehicle speed of the aerial walking forklift 100, making the aerial walking forklift 100 unable to continue passing directly through some sections of the aerial track at the current speed, resulting in a significant impact on the transportation efficiency of the aerial walking forklift 100.

[0053] In a preferred embodiment, the processor 1 of the aerial walking forklift 100 of the present application can execute the control method of the aerial walking forklift of the present application and accordingly control the walking speed of the aerial walking forklift 100 on the aerial track R.

[0054] Specifically, please refer to Figure 1 、 Figures 7 to 9 , Figure 7 which are the top view of the aerial walking forklift of the present application before entering the turning section of the aerial track and the schematic diagram of the recognition range before entering the bend, Figure 8 which is the top view of the aerial walking forklift of the present application entering the turning section of the aerial track and the schematic diagram of one of the recognition ranges in the bend, Figure 9 which is the top view of the aerial walking forklift of the present application entering the turning section of the aerial track and the schematic diagram of another recognition range in the bend.

[0055] As Figure 1 and Figure 7 shown, the control method of the aerial walking forklift of the present application includes: before the aerial walking forklift 100 is about to enter a turning section R3 of the aerial track R, execute the following steps:

[0056] Pre - turning judgment step: The processor 1 controls the obstacle detection module 5 of the aerial walking forklift 100 to scan the front of the aerial walking forklift 100, and the obstacle detection module 5 uses a pre - turning recognition range A3 to identify whether there are obstacles in the pre - turning recognition range A3 and generate corresponding pre - turning recognition information 51. Among them, the pre - turning recognition range A3 covers an entry position and an exit position of the turning section R3. Among them, the turning section R3 of the aerial track R is, for example, composed of the lower track R1 and the upper turning guide track R2 as shown in Figure 3 shown.

[0057] If the processor 1 determines that there are obstacles in the pre - turning recognition range A3 based on the pre - turning recognition information 51, a speed - reduction step is executed: reducing the speed of the aerial walking forklift 100. Conversely, if the processor 1 determines that there are no obstacles in the pre - turning recognition range A3 based on the pre - turning recognition information 51, the speed of the aerial walking forklift 100 is not reduced, and the aerial walking forklift 100 enters the turning section R3 at the current speed.

[0058] As Figure 8 shown, it shows a top view of the aerial walking forklift 100 at the entry position. In this state, the front vehicle 3A of the aerial walking forklift 100 can be in the inclined state as shown in Figure 3 shown; that is to say, the entry position refers to the position when a part of the upper guide wheels 32 of the front vehicle 3A of the aerial walking forklift 100 just touches the upper turning guide track R2 and the front vehicle 3A as a whole is in an inclined state. The exit position can be the position where the aerial walking forklift 100 is about to leave the turning section R3, for example, a position similar to Figure 10 shown. The turning section R3 can be, for example, the section of the aerial track R where the upper turning guide track R2 is provided.

[0059] The time point when the processor 1 executes the pre - turning judgment step is before the aerial walking forklift 100 enters the entry position. In actual work, before the pre - turning judgment step of the control method of the aerial walking forklift, a position judgment step can also be repeatedly executed: the processor 1 receives a real - time position information C to judge whether the aerial walking forklift 100 is ready to enter the turning section R3; if it is determined that the aerial walking forklift 100 is ready to enter the turning section R3, the pre - turning judgment step is executed. The real - time position information C can be the information sent by a reader 6 on the aerial walking forklift 100 to the processor 1 after reading the identification unit provided on the aerial track R.

[0060] When the aerial walking forklift 100 enters a bend, the front vehicle 3A (and the rear vehicle 3B) of the aerial walking forklift 100 will be in an inclined state, and some drive wheels 31 of the front vehicle 3A (and the rear vehicle 3B) will leave the adjacent lower track R1. Therefore, when performing the action of reducing the vehicle speed in this state, it will not be possible to effectively reduce the vehicle speed, and even situations such as rollover may occur. By designing the pre-bend recognition range A3 to cover the entry position and the exit position of the turning section R3, when there are obstacles at the entry position, the exit position, or the turning section, the aerial walking forklift 100 can reduce its vehicle speed before entering the bend, thus avoiding the situation where the aerial walking forklift 100 reduces its vehicle speed after entering the bend.

[0061] As Figure 1 , Figure 8 and Figure 9 shown, the control method of the aerial walking forklift further includes: during the process of the aerial walking forklift 100 moving along the turning section R3, at least perform the following steps once:

[0062] A mid-bend judgment step: Use the processor 1 to control the obstacle detection module 5 to scan the front of the aerial walking forklift 100, and make the obstacle detection module 5 use a mid-bend recognition range A4 to identify whether there are obstacles in the mid-bend recognition range A4, and generate corresponding mid-bend recognition information 52. Among them, the mid-bend recognition range A4 is smaller than the pre-bend recognition range A3. In a preferred embodiment, the mid-bend recognition range A4 is less than at least 60% of the pre-bend recognition range A3.

[0063] If the processor determines that there are obstacles in the mid-bend recognition range A4 based on the mid-bend recognition information 52, then perform the aforementioned speed reduction step to reduce the vehicle speed of the aerial walking forklift 100. On the contrary, if the processor 1 determines that there are no obstacles in the mid-bend recognition range A4 based on the mid-bend recognition information 52, then do not reduce the vehicle speed of the aerial walking forklift 100.

[0064] Among them, when the number of times the processor 1 controls the aerial walking forklift 100 to reduce its vehicle speed exceeds a default number of times, the vehicle speed of the aerial walking forklift 100 will be reduced to 0; the default number of times is not less than 2. That is to say, if the processor 1 controls the aerial walking forklift 100 to reduce its vehicle speed continuously 2 times (or more than 2 times), the vehicle speed of the aerial walking forklift 100 may be reduced to 0.

[0065] In this embodiment of Figure 8 and Figure 9Among them, the high-altitude walking type transporter 100 performs the mid-bend judgment step twice. And in the two mid-bend judgment steps, the obstacle detection module 5 is used to identify whether there is an obstacle in the mid-bend recognition range A4 with substantially the same mid-bend recognition range A4, but not limited thereto. In different embodiments, it may also be that according to actual needs, the high-altitude walking type transporter 100 performs more than 3 mid-bend judgment steps during the process of passing through the turning section R3. Moreover, each time the high-altitude walking type transporter 100 performs the mid-bend judgment step, the mid-bend recognition range A4 used may be completely the same or not completely the same.

[0066] In actual work, it may also be that according to the different shapes of the turning section (that is, the different numbers of turns included in the turning section), the processor 1 performs multiple mid-bend judgment steps during the process of the high-altitude walking type transporter 100 moving along the turning section R3, and makes the mid-bend recognition ranges A4 of at least two of the mid-bend judgment steps different from each other. Of course, the mid-bend recognition range in any mid-bend judgment step is smaller than the pre-bend-in recognition range.

[0067] It should be particularly noted that when the high-altitude walking type transporter 100 is located in the turning section R3 and the front vehicle 3A and the rear vehicle 3B are in an inclined state, the overall weight of the high-altitude walking type transporter 100 and the object to be transported carried thereon will be borne by a part of the upper guide wheels 32 and a part of the drive wheels 31 of the high-altitude walking type transporter 100. Therefore, if the speed reduction operation is frequently performed during the process of the high-altitude walking type transporter 100 being located in the turning section R3, the service life of the drive wheels 31 and the upper guide wheels 32 will be greatly reduced.

[0068] As described above, by designing the mid-bend recognition range A4 to be smaller than the pre-bend-in recognition range A3, the situation of misjudgment of the high-altitude walking type transporter 100 can be effectively reduced, and the situation that the processor 1 causes the high-altitude walking type transporter 100 to reduce its speed in the turning section R3 due to misjudgment can be greatly reduced. More specifically, as Figure 9 shown, if after the high-altitude walking type transporter 100 enters the turning section R3, it still uses the pre-bend-in recognition range A3 as shown in Figure 7 to judge whether there is an obstacle in front of the vehicle, it is obvious that it is easy to occur that although there is no obstacle in front of the high-altitude walking type transporter 100 that requires it to make an emergency brake, the processor 1 advances to control the high-altitude walking type transporter 100 to reduce its speed because there is an obstacle in the pre-bend-in recognition range A3.

[0069] On the contrary, as Figure 7 shown, if before the high-altitude walking type transporter 100 enters the turning section R3, it uses the one as shown in Figure 8For the recognition range A4 in the curve, it is determined whether there is an obstacle in front of the vehicle. If there is no obstacle at the entry position of the curve but there is an obstacle at the exit position of the curve, the processor 1 will first make the aerial walking forklift 100 enter the turning section R3 without reducing the speed. Then, during the turning process, the processor 1 will reduce the speed of the aerial walking forklift 100 because there is an obstacle at the exit position. Thus, problems such as the aerial walking forklift 100 being unable to reduce the speed in real time are likely to occur.

[0070] As described above, the control method of the aerial walking forklift of the present application can significantly reduce the operation of the aerial walking forklift to reduce the speed in the turning section through designs such as the pre-turning judgment step, the pre-turning recognition range, the mid-turn judgment step, and the mid-turn recognition range. Therefore, the problems that are likely to occur to the aerial walking forklift 100 due to reducing the speed in the turning section R3 can be significantly reduced.

[0071] It is worth mentioning that in actual work, the processor 1 can, for example, determine whether the aerial walking forklift 100 has entered the turning section through the aforementioned reader 6 in cooperation with the recognition unit provided on the lower track R1 (or provided around the lower track R1), and accordingly decide whether to execute the mid-turn judgment step. However, the method for the processor 1 to judge whether the aerial walking forklift 100 has entered the turning section R3 is not limited to this.

[0072] In different embodiments, the processor 1 can also obtain a sensing information 71 of an inclination sensor 7 provided on the front vehicle 3A (and the rear vehicle 3B) of the aerial walking forklift 100, so that the processor 1 can judge whether the aerial walking forklift 100 has entered the turning section R3 based on the sensing information 71. If the aerial walking forklift 100 has entered the turning section R3, the front vehicle 3A (and the rear vehicle 3B) will be inclined, and the inclination sensor 7 will generate the corresponding sensing information 71. At this time, the processor 1 can know that the aerial walking forklift 100 has entered the turning section R3, and the processor 1 will execute the mid-turn judgment step.

[0073] Please refer to Figure 6, which is a top view of the high-altitude walking forklift of the present application traveling on a straight section of the high-altitude track and a schematic diagram of the straight-line recognition range before entering the bend. In practical applications, before the high-altitude walking forklift enters the turning section R3, if the high-altitude walking forklift 100 is traveling along a straight section R4 of the high-altitude track R, the processor 1 can control the obstacle detection module 5 to scan the front of the high-altitude walking forklift 100, and enable the obstacle detection module 5 to recognize whether there are obstacles in a straight-line recognition range A5 before entering the bend, and generate a corresponding straight-line recognition information 53 before entering the bend. Among them, the straight-line recognition range A5 before entering the bend covers the bend entry position. Among them, the straight section R4 of the high-altitude track R only includes, for example, a lower track that is generally straight, and the lower tracks of most sections of the high-altitude track R can be connected to each other, while in a small number of sections of the high-altitude track R (such as divergent sections), the lower track will be discontinuous.

[0074] If the processor 1 determines, based on the straight-line recognition information 53 before entering the bend, that there are no obstacles in the straight-line recognition range A5 before entering the bend, it controls the high-altitude walking forklift 100 to travel at a straight-line speed before entering the bend; the straight-line speed before entering the bend is greater than the speed of the high-altitude walking forklift 100 at any position in the turning section R3.

[0075] As described above, in other words, as Figures 6 to 8 shown, the processor 1 respectively uses the straight-line recognition range A5 before entering the bend, the recognition range A3 before entering the bend, and the recognition range A4 during the bend to determine whether there are obstacles in front of the high-altitude walking forklift 100 before the high-altitude walking forklift 100 enters the turning section R3 of the high-altitude track R, after entering the turning section R3. Through such a design, the problem that the processor 1 misjudges that there are obstacles in front of the high-altitude walking forklift 100 and reduces the speed of the high-altitude walking forklift 100 can be effectively reduced. Therefore, the situation where the high-altitude walking forklift 100 executes speed reduction prematurely during the cornering process can be greatly reduced.

[0076] It is worth mentioning that, in order to improve the carrying efficiency of the aerial walking forklift 100 and avoid problems such as rollover and vibration during the turning process of the aerial walking forklift 100, in actual work, before the pre-turn judgment step, the aerial walking forklift can travel along the straight section R4 at a straight-line vehicle speed. In the pre-turn judgment step, if the processor 1 determines that there is an obstacle in the pre-turn recognition range, the vehicle speed of the aerial walking forklift 100 is reduced to a first vehicle speed; if it is determined that there is no obstacle in the pre-turn recognition range A3, the vehicle speed of the aerial walking forklift is reduced to a second vehicle speed; wherein, the first vehicle speed is lower than the second vehicle speed, and the second vehicle speed is lower than the straight-line vehicle speed. In the mid-turn judgment step, if there is an obstacle in the mid-turn recognition range, the vehicle speed of the aerial walking forklift is reduced to a third vehicle speed; wherein, the third vehicle speed is lower than the first vehicle speed and the third vehicle speed is lower than the second vehicle speed.

[0077] Briefly speaking, the aerial walking forklift 100 travels at a relatively high speed (straight-line vehicle speed) in the straight section R4. When the aerial walking forklift 100 enters the turning section R3, it will pass through the turning section R3 at a relatively low vehicle speed (the first vehicle speed or the second vehicle speed) according to whether there is an obstacle in the pre-turn recognition range A3; if the aerial walking forklift 100 determines that there is an obstacle in the mid-turn recognition range A4 during the turning process, the vehicle speed will be reduced, and the aerial walking forklift 100 will travel at a third vehicle speed lower than the first vehicle speed (or the second vehicle speed).

[0078] Please refer to Figure 10 , which is a top view of the turning section where the aerial walking forklift of the present application enters the aerial track and a schematic diagram of another mid-turn recognition range. Before the aerial walking forklift is ready to leave the turning section of the aerial track, the processor 1 can also perform the following steps:

[0079] A pre-exit turn judgment step: Use the processor 1 to control the obstacle detection module 5 to scan the front of the aerial walking forklift 100, and make the obstacle detection module 5 use a pre-exit turn recognition range A6 to identify whether there is an obstacle in the pre-exit turn recognition range A6, and generate corresponding pre-exit turn recognition information 54.

[0080] If the processor 1 determines that there is an obstacle in the pre-exit turn recognition range A6 according to the pre-exit turn recognition information 54, the vehicle speed of the aerial walking forklift 100 is reduced. Wherein, the pre-exit turn recognition range A6 covers the exit position of the turning section R3.

[0081] Such as Figure 9 and Figure 10As shown, in actual work, the recognition range A6 before exiting the bend may be different from the recognition range A4 in the middle of the bend, and the recognition range A6 before exiting the bend must cover the position of exiting the bend. Of course, in different embodiments, if the bend middle recognition range A4 adopted by the processor 1 in the aerial walking forklift 100 before exiting the bend already covers the position of exiting the bend, the processor 1 may also not execute the pre-exit bend judgment step.

[0082] Since the aerial walking forklift 100 leaves the turning section R3 and then enters the straight section, the processor 1 will increase the vehicle speed of the aerial walking forklift 100. Therefore, through the design of the pre-exit bend judgment step, it can effectively avoid the situation where: the processor 1 increases the vehicle speed before the aerial walking forklift 100 exits the bend, and then, because an obstacle appears in front of the aerial walking forklift 100, the processor 1 reduces the vehicle speed of the aerial walking forklift 100, resulting in an emergency brake. If an emergency brake occurs to the aerial walking forklift 100, the whole aerial walking forklift 100 may vibrate violently, which may cause the problem of collision of the goods to be transported carried by the aerial walking forklift 100.

[0083] Regarding the specific timing for the processor 1 to execute the pre-exit bend judgment step, it can be designed according to actual needs. For example, the processor 1 can execute before the leading vehicle 3A has left or is about to leave the upper turning guide rail R2, or the processor 1 can also execute when the leading vehicle 3A has left the upper turning guide rail and the following vehicle 3B has also left or is about to leave the upper turning guide rail R2.

[0084] Please refer to Figure 11 , in practical applications, the control method of the aerial walking forklift may further include a post-exit bend judgment step: judging whether the aerial walking forklift 100 has passed through the turning section R3 and entered a straight section R4.

[0085] If it is determined that the aerial walking forklift 100 has left the turning section R3 and entered the straight section R4, then control the obstacle detection module 5 to scan the front of the aerial walking forklift 100, and make the obstacle detection module 5 identify whether there is an obstacle in the post-exit bend straight recognition range A7 with a post-exit bend straight recognition range A7, and generate a corresponding post-exit bend straight recognition information 55.

[0086] If the processor 1 determines according to the post-exit bend straight recognition information 55 that there is no obstacle in the post-exit bend straight recognition range A7, then control the aerial walking forklift 100 to travel at a post-exit bend straight vehicle speed; the post-exit bend straight vehicle speed is greater than the vehicle speed of the aerial walking forklift 100 at any position in the turning section.

[0087] It should be noted that inFigure 11 In this case, the example is that the processor 1 executes the out-bend judgment step when the leading vehicle 3A has left the upper turning guide rail R2, but the trailing vehicle 3B has not left the upper turning guide rail R2. However, the specific timing for the processor 1 to execute the out-bend judgment step can be designed according to actual requirements, and is not limited to Figure 11 the example shown. For example, in different embodiments, the processor 1 can also execute the out-bend judgment step when both the leading vehicle 3A and the trailing vehicle 3B have left the upper turning guide rail R2, or the processor 1 can execute the out-bend judgment step when the trailing vehicle 3B is about to leave or has left the upper turning guide rail R2.

[0088] Please also refer to Figures 12 to 14 for another embodiment. Figure 12 FIG. is a top view of the aerial walking type transporter of the present application before entering the turning section of the aerial track and a schematic diagram of the recognition range before entering the bend. Figure 13 FIG. is a top view of the aerial walking type transporter of the present application entering the turning section of the aerial track and a schematic diagram of one of the recognition ranges in the bend. Figure 14 FIG. is a top view of the aerial walking type transporter of the present application entering the turning section of the aerial track and a schematic diagram of the recognition range before leaving the bend.

[0089] The biggest difference between this embodiment and the foregoing embodiment is that: the turning section R3X of the aerial track R includes multiple turning points, and the shape of the turning section R3X is in an S shape. The turning section R3X can be, for example, a lower track R1X that is generally in an S shape and two upper turning guide rails R2X1 and R2X2 that are generally in a Y shape.

[0090] As Figure 12 shown, when the processor 1 executes the pre-in-bend judgment step, the pre-in-bend recognition range A3X also covers the in-bend position and the out-bend position. As Figure 7 and Figure 12 shown, due to the different shapes of the turning section, the covered range of the pre-in-bend recognition range can be completely different.

[0091] As Figure 12 and Figure 13 shown, after the aerial walking type transporter 100 enters the turning section R3X, when the processor 1 executes the in-bend judgment step, the in-bend recognition range A4X is different from the pre-in-bend recognition range A3X, and the in-bend recognition range A4X is smaller than the pre-in-bend recognition range A3X.

[0092] As Figure 13 and Figure 14As shown, when the aerial walking forklift 100 is ready to leave the turning section R3X and the processor 1 executes the pre-exit judgment step, the pre-exit recognition range A6X is different from the mid-turn recognition range A4X, and the pre-exit recognition range A6X covers the exit position. Of course, in different embodiments, Figure 14 The situation shown can also be interpreted as the aerial walking forklift 100 still being in the turning section R3X, and the processor 1 executes another mid-turn judgment step, and the mid-turn recognition range this time is different from the mid-turn recognition range as shown in Figures 8 to 10 As shown. In other words, a person skilled in the art can decide whether the processor 1 executes the mid-turn judgment step or the pre-exit judgment step when the aerial walking forklift 100 is in a specific position based on the actual shape of the turning section, etc.

[0093] It is worth mentioning that when the processor 1 determines that there is an obstacle in front of the aerial walking forklift 100 and reduces the speed of the aerial walking forklift 100, the processor 1 can, for example, judge the distance between the obstacle and the aerial walking forklift 100 based on the information transmitted by the obstacle detection module 5, and determine how low the speed of the aerial walking forklift 100 needs to be reduced according to the current speed of the aerial walking forklift 100. In some extreme cases, the processor 1 may also directly control the speed of the aerial walking forklift 100 to 0 and stop the aerial walking forklift 100.

[0094] It should be particularly emphasized that the Figures 6 to 14 different recognition ranges shown separately in this application are only examples. The different recognition ranges adopted by the processor 1 in different steps can be designed according to the actual field conditions. In addition, Figures 6 to 14 In the figure, the installation positions of the equipment D and the beam-column E shown around the high-altitude track R are only examples; the equipment D is, for example, a storage rack for storing objects to be transported, or related equipment for moving the objects to be transported into or out of the aerial walking forklift, etc., and are not limited here.

[0095] In addition, it is worth mentioning that in the non-turning section of the high-altitude orbit R, especially in the straight section, devices such as storage racks and equipment for moving the load to be carried in and out are usually arranged around it. The high-altitude walking forklift 100 is likely to stop in the non-turning section to move the load to be carried in or out. Therefore, in the control method of the high-altitude walking forklift of the present application, by enabling the processor to adopt different recognition ranges in the pre-turn judgment step, in-turn judgment step, pre-exit judgment step, and exit judgment step, to judge whether there is an obstacle in front of the high-altitude walking forklift, the probability of misjudgment by the processor can be greatly reduced. On the contrary, if the processor uses roughly the same recognition range for obstacle recognition, the probability of misjudgment will increase significantly.

[0096] In summary, the control method of the high-altitude walking forklift of the present application can greatly reduce the situation of reducing the vehicle speed during the turning process of the high-altitude walking forklift, thereby effectively improving the overall loading and transporting efficiency, and can also effectively extend the service life of the high-altitude walking forklift, especially the service life of the upper guide wheels and drive wheels.

[0097] The above are only the preferred feasible embodiments of the present application, and do not limit the patent scope of the present application. Therefore, all equivalent technical changes made by using the content of the specification and drawings of the present application are included in the protection scope of the present application.

Claims

1. A control method for an aerial walking forklift, characterized in that The control method of the aerial walking forklift can be executed by a processor to control the walking speed of an aerial walking forklift on an aerial track. The control method of the aerial walking forklift includes: Before the aerial walking forklift is about to enter a turning section of the aerial track, the following steps are executed: A pre-turn judgment step: Using the processor, control an obstacle detection module of the aerial walking forklift to scan the front of the aerial walking forklift, and make the obstacle detection module identify whether there is an obstacle in a pre-turn recognition range with a pre-turn recognition range, and generate a corresponding pre-turn recognition information; if the processor determines that there is an obstacle in the pre-turn recognition range according to the pre-turn recognition information, reduce the vehicle speed of the aerial walking forklift; wherein, the pre-turn recognition range covers an entry position and an exit position of a turning section; During the process of the aerial walking forklift moving along the turning section, at least the following steps are executed once: A mid-turn judgment step: Using the processor to control the obstacle detection module to scan the front of the aerial walking forklift, and make the obstacle detection module identify whether there is an obstacle in a mid-turn recognition range with a mid-turn recognition range, and generate a corresponding mid-turn recognition information; if the processor determines that there is an obstacle in the mid-turn recognition range according to the mid-turn recognition information, reduce the vehicle speed of the aerial walking forklift; wherein, the mid-turn recognition range is smaller than the pre-turn recognition range; Wherein, when the number of times the processor controls the aerial walking forklift to reduce the vehicle speed exceeds a default number of times, the vehicle speed of the aerial walking forklift will be reduced to 0; the default number of times is not less than 2.

2. The control method of the high-altitude walking type transporter according to claim 1, characterized in that, In the pre-turn judgment step, if it is determined that there is no obstacle in the pre-turn recognition range, the vehicle speed of the aerial walking forklift is not reduced, and the aerial walking forklift enters the turning section at the current vehicle speed.

3. The control method of the aerial walking type transporter according to claim 1, characterized in that, Before the pre-turn judgment step, the aerial walking forklift travels at a straight-line vehicle speed; in the pre-turn judgment step, if it is determined that there is an obstacle in the pre-turn recognition range, the vehicle speed of the aerial walking forklift is reduced to a first vehicle speed; if it is determined that there is no obstacle in the pre-turn recognition range, the vehicle speed of the aerial walking forklift is reduced to a second vehicle speed; the first vehicle speed is lower than the second vehicle speed, and the second vehicle speed is lower than the straight-line vehicle speed.

4. The control method of the high-altitude walking type carrier according to claim 3, characterized in that, In the mid-turn judgment step, if there is an obstacle in the mid-turn recognition range, the vehicle speed of the aerial walking forklift is reduced to a third vehicle speed; the third vehicle speed is lower than the first vehicle speed, and the third vehicle speed is lower than the second vehicle speed.

5. The control method of the high-altitude walking forklift according to claim 1, wherein, The mid-turn recognition range is less than at least 60% of the pre-turn recognition range.

6. The control method of the high-altitude walking type carrier according to claim 1, characterized in that, During the process of the aerial walking forklift passing through the turning section, the processor executes the mid-turn judgment step at least twice.

7. The control method of the high-altitude walking type transporter according to claim 1, characterized in that, The control method of the aerial walking transporter further includes a step of judging when leaving a bend: judging whether the aerial walking transporter has passed through the turning section and entered a straight section; if it is determined that the aerial walking transporter has left the turning section and entered the straight section, the obstacle detection module is controlled to scan the front of the aerial walking transporter, and the obstacle detection module uses a straight-line recognition range when leaving the bend to identify whether there are obstacles in the straight-line recognition range when leaving the bend, and generates corresponding straight-line recognition information when leaving the bend; If the processor determines, based on the straight-line recognition information when leaving the bend, that there are no obstacles in the straight-line recognition range when leaving the bend, the aerial walking transporter is controlled to travel at a straight-line speed when leaving the bend; the straight-line speed when leaving the bend is greater than the speed of the aerial walking transporter at any position in the turning section.

8. The control method of the high-altitude walking forklift according to claim 1, characterized in that, The processor can obtain sensing information of an inclination sensor arranged on the aerial walking transporter, and the processor can judge whether the aerial walking transporter has entered the turning section according to the sensing information; when the processor determines that the aerial walking transporter has entered the turning section, the processor will execute the step of judging during the bend.

9. The control method of the aerial walking type transporter according to claim 1, characterized in that Before the step of judging before entering the bend, a position judging step is repeatedly executed: the processor receives real-time position information to judge whether the aerial walking transporter is ready to enter the turning section; if it is determined that the aerial walking transporter is ready to enter the turning section, the step of judging before entering the bend is executed.

10. The control method of the aerial walking type carrier according to claim 8, characterized in that, Before the aerial walking transporter enters the turning section, if the aerial walking transporter travels along a straight section of the aerial track, the processor controls the obstacle detection module to scan the front of the aerial walking transporter, and the obstacle detection module uses a straight-line recognition range before entering the bend to identify whether there are obstacles in the straight-line recognition range before entering the bend, and generates corresponding straight-line recognition information before entering the bend; if the processor determines, based on the straight-line recognition information before entering the bend, that there are no obstacles in the straight-line recognition range before entering the bend, the aerial walking transporter is controlled to travel at a straight-line speed before entering the bend; the straight-line speed before entering the bend is greater than the speed of the aerial walking transporter at any position in the turning section; wherein, the straight-line recognition range before entering the bend covers the position of entering the bend.

11. The control method of the aerial walking type carrier according to claim 1, wherein, During the process of the aerial walking transporter moving along the turning section, The step of judging during the bend is executed multiple times, and at least two of the bend recognition ranges in the step of judging during the bend are different; the bend recognition range in any one of the steps of judging during the bend is smaller than the recognition range before entering the bend.

12. The control method of the aerial walking type transporter according to claim 1, characterized in that, Before the aerial walking transporter is ready to leave the turning section of the aerial track, the following steps are executed: Pre - turn judgment step: Use the processor to control the obstacle detection module to scan the front of the aerial walking forklift, and make the obstacle detection module identify whether there is an obstacle in the pre - turn recognition range with a pre - turn recognition range, and generate corresponding pre - turn recognition information; if the processor determines that there is an obstacle in the pre - turn recognition range based on the pre - turn recognition information, then reduce the speed of the aerial walking forklift; wherein, the pre - turn recognition range covers the exit position of the turning section; the pre - turn recognition range is different from the mid - turn recognition range.

13. An aerial walking type carrier, characterized in that The aerial walking forklift includes: A processor; A vehicle body provided with a plurality of drive wheels; A drive module electrically connected to the processor, and the drive module can drive the drive wheels to make the aerial walking forklift travel along an aerial track; An obstacle detection module disposed on the vehicle body, the obstacle detection module can scan the front of the vehicle body, and use one of a variety of default recognition ranges to identify whether there is an obstacle in the default recognition range, and generate corresponding recognition information accordingly; wherein, the multiple default recognition ranges are different from each other; wherein, the processor can control the obstacle detection module to scan the front of the aerial walking forklift according to a real - time position of the aerial walking forklift, and use one of the default recognition ranges to identify whether there is an obstacle in the default recognition range, and generate the corresponding recognition information; when the processor determines that there is an obstacle in the default recognition range based on the recognition information, the processor will control the drive module to reduce the speed of the aerial walking forklift.

14. The aerial walking type transporter according to claim 13, characterized in that, The processor can, according to the real - time position, before the aerial walking forklift enters a turning section of the aerial track, control the obstacle detection module to use the default recognition range with a larger recognition range to judge whether there is an obstacle in the front of the aerial walking forklift; the processor can, according to the real - time position, during the process of the aerial walking forklift passing through the turning section, change to use the default recognition range with a smaller recognition range to judge whether there is an obstacle in the front of the aerial walking forklift.

15. The high-altitude walking type carrier according to claim 13, wherein, The processor can execute the control method of the aerial walking forklift according to any one of claims 1 to 12.

16. An aerial walking type carrier system, characterized in that, The aerial walking forklift system includes: the aerial walking forklift according to claim 13 and the aerial track.

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