Four-way vehicle obstacle avoidance early warning device for dense stereoscopic warehouse

Abstract

The utility model provides a four-way vehicle obstacle avoidance early warning device for a dense stereoscopic warehouse, which comprises a four-way shuttle vehicle body, a laser radar sensor, an ultrasonic sensor, a visual sensor and an audible and visual alarm are mounted on the four-way shuttle vehicle body, and a plurality of rubber cushion blocks are fixedly connected to the four-way shuttle vehicle body. Placing cavities are formed in the rubber cushion blocks, air bags are arranged in the placing cavities, and a first damping column and a second damping column are arranged between every two adjacent rubber cushion blocks; through cooperative use of a laser radar sensor, an ultrasonic sensor, a visual sensor and an audible and visual alarm, obstacles can be recognized more comprehensively, no detection blind area exists, the obstacle avoidance early warning effect is better, and through cooperative use of a rubber cushion block, an air bag, a first damping column and a second damping column, the obstacle avoidance early warning effect is better. The protection performance of the four-way shuttle vehicle body can be greatly improved, the impact force borne by the four-way shuttle vehicle body is reduced to the maximum extent, and the four-way shuttle vehicle body is prevented from being damaged.

Description

Technical Field

[0001] The utility model relates to the technical field of warehousing and logistics equipment, and particularly relates to a four-way vehicle obstacle avoidance and early warning device for an intensive stereoscopic warehouse. Background Technique

[0002] The four-way shuttle car stereoscopic warehouse is a new type of intensive intelligent warehousing system, which mainly consists of shelves, intelligent four-way shuttle cars and a software control system. Among them, the shelf part is used to store goods, the four-way shuttle car is used to transport the goods on the shelves, the software control system is used to control the operation and scheduling of the four-way shuttle car and other automated equipment, and record the actual situation of the goods. The four-way shuttle car can walk on the guide rail and realize commutation in the vertical direction. The use of the four-way shuttle car can improve the space utilization rate of the warehouse. Existing four-way shuttle cars are often equipped with obstacle avoidance and early warning equipment. However, the existing technology has the following deficiencies in use:

[0003] Its detection means is single, and it often cannot comprehensively and accurately identify obstacles. It can only detect objects within a certain angle and distance in the front, and there are detection blind spots in areas such as the side and rear. At the same time, the self-protection of the four-way shuttle car is poor, and the obstacle avoidance and early warning equipment is easily affected by the signal strength in the network area. If the four-way shuttle car collides with an external object, it is easily damaged itself.

[0004] Therefore, there is an urgent need for a four-way vehicle obstacle avoidance and early warning device for an intensive stereoscopic warehouse to solve the above problems. Content of the Utility Model

[0005] The purpose of the utility model is to address the current problems of single detection means, often unable to comprehensively and accurately identify obstacles, only able to detect objects within a certain angle and distance in the front, having detection blind spots in areas such as the side and rear, and at the same time, the self-protection of the four-way shuttle car is poor, the obstacle avoidance and early warning equipment is easily affected by the signal strength in the network area, and if the four-way shuttle car collides with an external object, it is easily damaged itself.

[0006] To achieve the above purpose, the utility model provides the following technical solutions:

[0007] A four-way vehicle obstacle avoidance and early warning device for an intensive stereoscopic warehouse to improve the above problems.

[0008] Specifically, this application is as follows:

[0009] A four-way vehicle obstacle avoidance warning device for a dense stereoscopic warehouse, including a four-way shuttle vehicle body, on which a lidar sensor, an ultrasonic sensor, a vision sensor and an audible and visual alarm are installed. A plurality of rubber cushion blocks are fixedly connected to the four-way shuttle vehicle body. A placement cavity is provided in the rubber cushion block, and an airbag is arranged in the placement cavity. A first damping column and a second damping column are arranged between two adjacent rubber cushion blocks.

[0010] As a preferred technical solution of the present application, the lidar sensor and the ultrasonic sensor are symmetrically distributed about the central axis of the four-way shuttle vehicle body.

[0011] As a preferred technical solution of the present application, the lidar sensor, the ultrasonic sensor, the vision sensor and the audible and visual alarm are all electrically connected to an external data processing terminal.

[0012] As a preferred technical solution of the present application, both the first damping column and the second damping column are fixedly connected to the rubber cushion block.

[0013] As a preferred technical solution of the present application, the first damping column and the second damping column have the same specifications.

[0014] As a preferred technical solution of the present application, anti-slip strips are symmetrically arranged on the top of the four-way shuttle vehicle body.

[0015] Compared with the prior art, the beneficial effects of the present utility model are as follows:

[0016] In the solution of the present application:

[0017] 1. Through the combined use of the lidar sensor, the ultrasonic sensor, the vision sensor and the audible and visual alarm, obstacles can be recognized more comprehensively, there is no detection blind area, and the obstacle avoidance warning effect is better. It solves the problem that in the prior art, the detection means is single, and it is often impossible to comprehensively and accurately identify obstacles, and can only detect objects within a certain angle and distance in front, and there are detection blind areas in areas such as the side and the rear.

[0018] 2. Through the combined use of the provided rubber cushion blocks, airbags, first damping columns and second damping columns, the protection performance of the four-way shuttle vehicle body can be greatly improved. When the four-way shuttle vehicle body collides, the impact force received by the four-way shuttle vehicle body can be minimized to avoid its damage. Description of the Drawings

[0019] Figure 1 It is one of the overall structural schematic diagrams of a four-way vehicle obstacle avoidance warning device for a dense stereoscopic warehouse provided by the present application.

[0020] Figure 2This is the second overall structural schematic diagram of a four-way vehicle obstacle avoidance warning device for an intensive stereo warehouse provided by this application.

[0021] Figure 3 This is the front view structural schematic diagram of a four-way vehicle obstacle avoidance warning device for an intensive stereo warehouse provided by this application.

[0022] Figure 4 This is the structural schematic diagram of a rubber cushion block in a four-way vehicle obstacle avoidance warning device for an intensive stereo warehouse provided by this application.

[0023] Labels in the figure:

[0024] 1. Four-way shuttle vehicle body; 2. Lidar sensor; 3. Ultrasonic sensor; 4. Vision sensor; 5. Acousto-optic alarm; 6. Rubber cushion block; 7. Placing cavity; 8. Airbag; 9. First damping column; 10. Second damping column; 11. Anti-slip strip. Detailed implementation manners

[0025] To make the objectives, technical solutions, and advantages of the embodiments of the present utility model clearer, the technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings. Apparently, the described embodiments are some, but not all, of the embodiments of the present utility model.

[0026] Therefore, the following detailed description of the embodiments of the present utility model is not intended to limit the scope of the present utility model claimed, but merely represents some embodiments of the present utility model. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts fall within the scope of protection of the present utility model.

[0027] It should be noted that, without conflict, the embodiments in the present utility model and the features and technical solutions in the embodiments may be combined with each other.

[0028] It should be noted that similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0029] In the description of the present utility model, it should be noted that the orientation or positional relationship indicated by terms such as "upper" and "lower" is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of the present utility model is usually placed during use, or the orientation or positional relationship commonly understood by those skilled in the art. Such terms are only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present utility model. In addition, terms such as "first" and "second" are only used for differential description and cannot be understood as indicating or implying relative importance.

[0030] Embodiment:

[0031] As Figures 1-4 shown, a four-way vehicle obstacle avoidance warning device for an intensive stereo warehouse proposed in this embodiment includes a four-way shuttle vehicle body 1. A lidar sensor 2, an ultrasonic sensor 3, a vision sensor 4, and an audible and visual alarm 5 are installed on the four-way shuttle vehicle body 1. Through the lidar sensor 2, the distance and angle between the four-way shuttle vehicle body 1 and the obstacle can be accurately measured, which has the characteristics of high precision and strong anti-interference ability and can realize 360-degree environmental scanning. A plurality of rubber cushion blocks 6 are fixedly connected to the four-way shuttle vehicle body 1. The ultrasonic sensor 3 is used for close-range detection to supplement the possible blind area of the lidar sensor 2 in close-range detection. A placement cavity 7 is formed on the rubber cushion block 6. The vision sensor 4 can identify the shape, color and other characteristics of the obstacle, assist in judging the type of the obstacle, and can provide rich environmental information under good light conditions. An airbag 8 is arranged in the placement cavity 7, and a first damping column 9 and a second damping column 10 are arranged between two adjacent rubber cushion blocks 6.

[0032] As Figure 1 shown, the lidar sensor 2 and the ultrasonic sensor 3 are symmetrically distributed about the central axis of the four-way shuttle vehicle body 1.

[0033] As Figure 1 and Figure 3 shown, the lidar sensor 2, the ultrasonic sensor 3, the vision sensor 4, and the audible and visual alarm 5 are all electrically connected to an external data processing terminal. The lidar sensor 2, the ultrasonic sensor 3, and the vision sensor 4 transmit the detection signals to the external data processing terminal, and data analysis and obstacle avoidance decision-making are carried out through the external data processing terminal to reduce manual intervention and operation costs. If the distance between the four-way shuttle vehicle body 1 and an object is too small, the audible and visual alarm 5 can emit an alarm sound in time to remind the nearby staff.

[0034] As Figure 1 、 Figure 2 and Figure 3As shown, both the first damping column 9 and the second damping column 10 are fixedly connected to the rubber cushion block 6. By providing a plurality of first damping columns 9 and second damping columns 10, the impact force generated can be absorbed again after the rubber cushion block 6 is deformed under force.

[0035] As Figure 3 shown, the first damping column 9 and the second damping column 10 have the same specifications.

[0036] As Figure 1 shown, anti-slip strips 11 are symmetrically arranged on the top of the four-way shuttle vehicle body 1. By providing the anti-slip strips 11, the friction with the carried goods can be increased, ensuring the stability during the transfer of goods.

[0037] Specifically, when the four-way vehicle obstacle avoidance warning device for an intensive stereoscopic warehouse is in use: through the lidar sensor 2, the distance and angle between the four-way shuttle vehicle body 1 and the obstacle can be accurately measured, which has the characteristics of high precision and strong anti-interference ability, and can realize 360-degree environmental scanning. The ultrasonic sensor 3 is used for short-distance detection to supplement the possible blind area of the lidar sensor 2 in short-distance detection. The vision sensor 4 can identify the shape, color and other characteristics of the obstacle, assist in judging the type of the obstacle, and can provide rich environmental information under good light conditions. The lidar sensor 2, the ultrasonic sensor 3 and the vision sensor 4 transmit the detection signals to an external data processing terminal, and data analysis and obstacle avoidance decision-making are carried out through the external data processing terminal, reducing manual intervention and operation costs. If the distance between the four-way shuttle vehicle body 1 and an object is too small, an alarm sound can be timely emitted through the sound and light alarm 5 to remind the nearby staff. If the regional network in the warehouse is affected and the four-way shuttle vehicle body 1 collides with an object, a plurality of rubber cushion blocks 6 will directly contact the object, causing the stressed rubber cushion block 6 to deform and absorb part of the impact force. The impact force is transmitted to the airbag 8 through the rubber cushion block 6, causing the airbag 8 to deform and absorb and disperse part of the impact force again. At this time, through the plurality of first damping columns 9 and second damping columns 10 provided, the impact force generated can be absorbed again after the rubber cushion block 6 is deformed under force. By the combined use of a plurality of rubber cushion blocks 6, airbags 8, first damping columns 9 and second damping columns 10, the impact force received by the four-way shuttle vehicle body 1 can be minimized to avoid its damage.

[0038] The above embodiments are only used to illustrate the present invention rather than to limit the technical solutions described in the present invention. Although this specification has described the present invention in detail with reference to the above respective embodiments, the present invention is not limited to the above specific embodiments. Therefore, any modification or equivalent replacement to the present invention; and all technical solutions and their improvements that do not depart from the spirit and scope of the present invention are covered by the scope of the claims of the present invention.

Claims

1. A four-way vehicle obstacle avoidance warning device for a dense stereo warehouse, comprising a four-way shuttle vehicle body (1), characterized in that, A lidar sensor (2), an ultrasonic sensor (3), a vision sensor (4) and an audible and visual alarm (5) are installed on the four-way shuttle vehicle body (1). A plurality of rubber cushion blocks (6) are fixedly connected to the four-way shuttle vehicle body (1). A placement cavity (7) is formed in the rubber cushion block (6). An airbag (8) is arranged in the placement cavity (7). A first damping column (9) and a second damping column (10) are arranged between two adjacent rubber cushion blocks (6).

2. The four-way vehicle obstacle avoidance warning device for a dense stereo warehouse according to claim 1, characterized in that The lidar sensor (2) and the ultrasonic sensor (3) are symmetrically distributed about the central axis of the four-way shuttle vehicle body (1).

3. The four-way vehicle obstacle avoidance warning device for a dense stereo warehouse according to claim 1, characterized in that, The lidar sensor (2), the ultrasonic sensor (3), the vision sensor (4) and the audible and visual alarm (5) are all electrically connected to an external data processing terminal.

4. The four-way vehicle obstacle avoidance warning device for a dense stereo warehouse according to claim 1, characterized in that, Both the first damping column (9) and the second damping column (10) are fixedly connected to the rubber cushion block (6).

5. The four-way vehicle obstacle avoidance and warning device for a dense stereo warehouse according to claim 1, characterized in that, The first damping column (9) and the second damping column (10) have the same specifications.

6. The four-way vehicle obstacle avoidance warning device for a dense stereo warehouse according to claim 1, characterized in that, Anti-slip strips (11) are symmetrically arranged on the top of the four-way shuttle vehicle body (1).

Images