Transfer trolley obstacle avoidance device and transfer trolley
The PLC control unit and image sensor of the obstacle avoidance device of the transfer vehicle automatically control the operation and stopping of the transfer vehicle, which solves the problem of dependence on manual operation and realizes unmanned transfer and improves safety.
Patent Information
- Application Number
- CN202520309969.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-02-25
- Publication Date
- 2025-12-16
- Estimated Expiration
- 2035-02-25
AI Technical Summary
In existing technologies, the transfer process of cathode blank carbon blocks is highly dependent on manual operation, resulting in high labor costs and safety hazards.
The transfer vehicle uses an obstacle avoidance device, which includes a changeover switch unit, a start button, a PLC control unit, a drive motor, an image sensor, and a parking limit unit. The PLC control unit automatically controls the operation and stopping of the transfer vehicle, and the image sensor detects obstacles and triggers the motor to stop, reducing manual intervention and safety hazards.
It enables automated transfer without human supervision, reducing labor costs and improving the safety and accuracy of the transfer process by reducing safety hazards through image sensors.
Smart Images
Figure CN223672296U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to carbon block transfer trolley technical field especially, it relates to a transfer trolley obstacle avoidance device and transfer trolley. BACKGROUND
[0002] In the production activities of workshop, after the cathode blank carbon block is finished from a process, needs timely transportation to the next process and continues to process. The workshop selects the transfer trolley to transfer the cathode blank carbon block between the upper and lower processes in the distance close to reduce the cost.
[0003] At present, after the loading of the cathode blank carbon block is finished, personnel need to start the transfer trolley and follow it to the designated position of the next process. After reaching, after unloading, drive the transfer trolley back to the workshop, prepare for the next round of loading work.
[0004] On the one hand, the transfer process highly depends on manual operation, and the operator needs to accompany the trolley throughout the process, which consumes a lot of labor cost. On the other hand, the personnel anti-collision measures are not enough during the transfer, which has safety hazards. INVENTION CONTENTS
[0005] The utility model provides a transfer trolley obstacle avoidance device and transfer trolley to reduce labor cost and reduce safety hazards.
[0006] In the first aspect, the utility model provides a transfer trolley obstacle avoidance device, which comprises a change-over switch unit (1), a start button (2), a PLC control unit (3), a drive motor (4), an image sensor (5) and a parking limiting unit (6).
[0007] The change-over switch unit (1), the start button (2), the drive motor (4), the image sensor (5) and the parking limiting unit (6) are all in communication connection with the PLC control unit (3).
[0008] The change-over switch unit (1) selects a parking position, and the start button (2) is pressed to trigger the PLC control unit (3) to control the drive motor (4) to drive the transfer trolley to run to the parking position.
[0009] During the operation of the transfer trolley, the image sensor (5) senses an obstacle, triggers the PLC control unit (3) to control the drive motor (4) to stop; after the obstacle disappears, the PLC control unit (3) is triggered to control the drive motor (4) to drive the transfer trolley to run to the parking position.
[0010] The parking limiting unit (6) senses that the transfer trolley reaches the parking position, triggers the PLC control unit (3) to control the drive motor (4) to stop.
[0011] Optionally, the switch unit (1) comprises: a switch (11), a first parking position module (12), a second parking position module (13) and a third parking position module (14);
[0012] The switch (11) is in communication connection with the PLC control unit (3);
[0013] The switch (11) is in electrical connection with the first parking position module (12), the second parking position module (13) and the third parking position module (14) respectively;
[0014] The switch (11) selects the first parking position module (12), and the start button (2) is pressed to trigger the PLC control unit (3) to control the driving motor (4) to drive the transfer trolley to run to the first parking position;
[0015] The switch (11) selects the second parking position module (13), and the start button (2) is pressed to trigger the PLC control unit (3) to control the driving motor (4) to drive the transfer trolley to run to the second parking position;
[0016] The switch (11) selects the third parking position module (14), and the start button (2) is pressed to trigger the PLC control unit (3) to control the driving motor (4) to drive the transfer trolley to run to the third parking position.
[0017] Optionally, the parking limiting unit (6) comprises: a first parking limiting module (61), a second parking limiting module (62) and a third parking limiting module (63);
[0018] The first parking limiting module (61), the second parking limiting module (62) and the third parking limiting module (63) are in communication connection with the PLC control unit (3) respectively;
[0019] The first parking limiting module (61) senses that the transfer trolley reaches the first parking position, and triggers the PLC control unit (3) to control the driving motor (4) to stop;
[0020] The second parking limiting module (62) senses that the transfer trolley reaches the second parking position, and triggers the PLC control unit (3) to control the driving motor (4) to stop;
[0021] The third parking limiting module (63) senses that the transfer trolley reaches the third parking position, and triggers the PLC control unit (3) to control the driving motor (4) to stop.
[0022] Optionally, the start button (2) comprises: a forward start button (21) and a backward start button (22);
[0023] The forward start button (21) and the backward start button (22) are in communication connection with the PLC control unit (3) respectively;
[0024] A forward start button (21) is used to trigger the PLC control unit (3) to control the driving motor (4) to drive the transfer trolley to run forward to a parking position.
[0025] A backward start button (22) is used to trigger the PLC control unit (3) to control the driving motor (4) to drive the transfer trolley to run backward to a parking position.
[0026] Optionally, the number of the image sensors (5) is multiple, and the image sensors (5) are installed around the transfer trolley.
[0027] Optionally, the transfer trolley obstacle avoidance device further comprises an alarm (7).
[0028] The alarm (7) is in communication connection with the PLC control unit (3).
[0029] During the running of the transfer trolley, when the image sensor (5) senses an obstacle, the PLC control unit (3) is triggered to control the alarm (7) to alarm.
[0030] Optionally, the alarm (7) comprises at least one of a voice alarm, a photoelectric alarm and a vibration alarm.
[0031] Optionally, the transfer trolley obstacle avoidance device further comprises an emergency stop button (8).
[0032] The emergency stop button (8) is in communication connection with the PLC control unit (3).
[0033] The emergency stop button (8) is used to trigger the PLC control unit (3) to control the driving motor (4) to stop.
[0034] Optionally, the transfer trolley obstacle avoidance device further comprises an environment sensor (9).
[0035] The environment sensor (9) is in communication connection with the PLC control unit (3).
[0036] The environment sensor (9) is used to monitor the environment around the transfer trolley.
[0037] In a second aspect, the utility model provides a transfer trolley, comprising:
[0038] The transfer trolley is provided with a transfer trolley obstacle avoidance device.
[0039] Compared with the prior art, the obstacle avoidance device and the transfer trolley have the following advantages: the parking position is selected through the change-over switch unit, the start button is pressed, the PLC control unit is triggered to control the driving motor to drive the transfer trolley to run to the parking position; during the running of the transfer trolley, the image sensor senses an obstacle, the PLC control unit is triggered to control the driving motor to stop; after the obstacle disappears, the PLC control unit is triggered to control the driving motor to drive the transfer trolley to run to the parking position; after the transfer trolley reaches the parking position, the parking limiting unit is triggered to control the PLC control unit to control the driving motor to stop. During the transfer of the transfer trolley, the change-over switch unit, the start button, the driving motor, the image sensor and the parking limiting unit are in communication connection with the PLC control unit, the transfer trolley is automatically controlled through the PLC control unit, personnel accompanying is not needed, and the labor cost is reduced; after the image sensor senses an obstacle, the PLC control unit is triggered to control the driving motor to stop, and the safety hidden danger is reduced.
[0040] In addition to the technical problems solved by the above-described embodiments of the utility model, the technical features constituting the technical solutions and the beneficial effects brought by these technical features, the other technical problems solved by the obstacle avoidance device and the transfer trolley provided by the embodiments of the utility model, the other technical features contained in the technical solutions and the beneficial effects brought by these technical features will be further described in detail in the specific embodiments. BRIEF DESCRIPTION OF DRAWINGS
[0041] In order to more clearly illustrate the technical solutions in the embodiments of the utility model or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced as follows. Obviously, the drawings in the following description are some embodiments of the utility model, and other drawings can be obtained by those skilled in the art without creative labor under the premise of the drawings.
[0042] Figure 1 Structure diagram of the obstacle avoidance device of the transfer trolley provided by the embodiments of the utility model Figure 1 ;
[0043] Figure 2 Structure diagram of the obstacle avoidance device of the transfer trolley provided by the embodiments of the utility model Figure 2 ;
[0044] Figure 3 Structure diagram of the obstacle avoidance device of the transfer trolley provided by the embodiments of the utility model Figure 3 .
[0045] Reference signs:
[0046] 1-change-over switch unit;
[0047] 11-change-over switch
[0048] 12 - first parking position module;
[0049] 13 - second parking position module;
[0050] 14 - third parking position module;
[0051] 2 - start button;
[0052] 21 - forward start button;
[0053] 22 - backward start button;
[0054] 3 - PLC control unit;
[0055] 4 - driving motor;
[0056] 5 - image sensor;
[0057] 6 - parking limit unit;
[0058] 61 - first parking limit module;
[0059] 62 - second parking limit module;
[0060] 63 - third parking limit module;
[0061] 7 - alarm;
[0062] 8 - emergency stop button;
[0063] 9 - environmental sensor. DETAILED DESCRIPTION
[0064] The exemplary embodiments will be described in detail herein with reference to the attached drawings. The following description is made with reference to the accompanying drawings in which like reference numerals refer to like elements throughout. The following description is made with reference to the accompanying drawings in which like reference numerals refer to like elements throughout. The embodiments described in the following exemplary embodiments are not meant to represent all embodiments in keeping with the present application. Rather, they are merely examples in keeping with some aspects of the present application as detailed in the appended claims.
[0065] It is noted that when an element is referred to as being "on" or "connected to" another element, it can be directly on or connected to the other element or indirectly on or connected to the other element by way of one or more intervening elements. It is further noted that when an element is referred to as being "connected to" or "paved on" another element, it can be directly connected to or paved on the other element or indirectly connected to or paved on the other element by way of one or more intervening elements.
[0066] It should be understood that the terms "length", "width", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.
[0067] In addition, the terms "first", "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined as "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple", "several" is two or more, unless otherwise explicitly specified.
[0068] In the production activities of the workshop, after the cathode blank carbon block is completed from one process, it needs to be transported to the next process for further processing. In order to reduce costs, the transfer trolley is used to transfer the cathode blank carbon block between the processes with close distances. At present, after the loading of the cathode blank carbon block is completed, personnel need to start the transfer trolley and follow it to the designated position of the next process. After arrival, after unloading is completed, the transfer trolley is driven back to the workshop to prepare for the next round of loading work. On the one hand, the transfer process highly depends on manual operation, and the operator needs to accompany the trolley throughout the process, which consumes a large amount of labor cost; on the other hand, the personnel anti-collision measures are not enough during the transfer, which has safety hazards.
[0069] In order to solve the above technical problems, the present application proposes the following technical ideas: considering that personnel need to accompany the transfer trolley throughout the operation process, which consumes a large amount of labor cost. The inventor thought of automatically controlling the transfer trolley through the PLC control unit, sensing whether the transfer trolley reaches the parking position through the parking limiting unit, without personnel accompanying, reducing labor cost; considering that the personnel anti-collision measures are not enough during the transfer, which has safety hazards. The inventor thought of triggering the PLC control unit to control the driving motor to stop after the image sensor senses the obstacle, reducing the safety hazards.
[0070] In addition to the technical problems solved by the above-described embodiments of the present application, the technical features constituting the technical solutions and the beneficial effects brought by these technical features, the other technical problems solved by the transfer trolley obstacle avoidance device provided by the embodiments of the present application, other technical features included in the technical solutions and the beneficial effects brought by these technical features will be further described in detail in the specific embodiments.
[0071] Reference Figure 1 andFigure 2 , Figure 1 The structure diagram of the obstacle avoidance device of the transfer trolley provided by the embodiment of the utility model Figure 1 ; Figure 2 The structure diagram of the obstacle avoidance device of the transfer trolley provided by the embodiment of the utility model Figure 2 . In the embodiment, the obstacle avoidance device of the transfer trolley comprises a change-over switch unit (1), a start button (2), a PLC control unit (3), a driving motor (4), an image sensor (5) and a parking limiting unit (6).
[0072] Among them, the change-over switch unit (1), the start button (2), the driving motor (4), the image sensor (5) and the parking limiting unit (6) are all in communication connection with the PLC control unit (3).
[0073] Among them, the PLC control unit (3) is used for receiving and processing various signals and issuing control instructions.
[0074] The change-over switch unit (1) selects a parking position, and the start button (2) is pressed to trigger the PLC control unit (3) to control the driving motor (4) to drive the transfer trolley to run to the parking position.
[0075] In the embodiment, the start button (2) comprises an advance start button (21) and a retreat start button (22); the advance start button (21) and the retreat start button (22) are respectively in communication connection with the PLC control unit (3); the advance start button (21) is used for triggering the PLC control unit (3) to control the driving motor (4) to drive the transfer trolley to run forward to the parking position; and the retreat start button (22) is used for triggering the PLC control unit (3) to control the driving motor (4) to drive the transfer trolley to run backward to the parking position.
[0076] Optionally, the advance start button (21) or the retreat start button (22) is pressed according to the direction of the parking position. After the advance start button (21) or the retreat start button (22) is pressed, an advance or retreat instruction is sent to the PLC control unit (3); the PLC control unit (3) controls the driving motor (4) to drive the transfer trolley to run forward or backward to the parking position.
[0077] In the embodiment, the change-over switch unit (1) comprises a change-over switch (11), a first parking position module (12), a second parking position module (13) and a third parking position module (14); the change-over switch (11) is in communication connection with the PLC control unit (3).
[0078] In the embodiment, the change-over switch (11) is electrically connected with the first parking position module (12), the second parking position module (13) and the third parking position module (14) respectively; the change-over switch (11) selects the first parking position module (12), and the start button (2) is pressed to trigger the PLC control unit (3) to control the driving motor (4) to drive the transfer trolley to run to the first parking position; the change-over switch (11) selects the second parking position module (13), and the start button (2) is pressed to trigger the PLC control unit (3) to control the driving motor (4) to drive the transfer trolley to run to the second parking position; the change-over switch (11) selects the third parking position module (14), and the start button (2) is pressed to trigger the PLC control unit (3) to control the driving motor (4) to drive the transfer trolley to run to the third parking position.
[0079] In the embodiment, the parking limiting unit (6) comprises a first parking limiting module (61), a second parking limiting module (62) and a third parking limiting module (63); the first parking limiting module (61), the second parking limiting module (62) and the third parking limiting module (63) are respectively in communication connection with the PLC control unit (3).
[0080] In the embodiment, the first parking limiting module (61) senses that the transfer trolley reaches the first parking position, triggers the PLC control unit (3) to control the driving motor (4) to stop; the second parking limiting module (62) senses that the transfer trolley reaches the second parking position, triggers the PLC control unit (3) to control the driving motor (4) to stop; the third parking limiting module (63) senses that the transfer trolley reaches the third parking position, triggers the PLC control unit (3) to control the driving motor (4) to stop.
[0081] Optionally, when the change-over switch (11) is electrically connected with the first parking position module (12), the start button (2) is pressed to trigger the PLC control unit (3) to control the driving motor (4) to drive the transfer trolley to run to the first parking position; whether the transfer trolley reaches the first parking position is sensed by the first parking limiting module (61), and when the first parking limiting module (61) senses that the transfer trolley reaches the first parking position, the PLC control unit (3) is triggered to control the driving motor (4) to stop.
[0082] Optionally, when the change-over switch (11) is electrically connected with the second parking position module (13), the start button (2) is pressed to trigger the PLC control unit (3) to control the driving motor (4) to drive the transfer trolley to run to the second parking position; whether the transfer trolley reaches the second parking position is sensed by the second parking limiting module (62), and when the second parking limiting module (62) senses that the transfer trolley reaches the second parking position, the PLC control unit (3) is triggered to control the driving motor (4) to stop.
[0083] Optionally, when the switch (11) is electrically connected with the third parking position module (14), the start button (2) is pressed, triggering the PLC control unit (3) to control the driving motor (4) to drive the transfer trolley to run to the third parking position; the third parking limiting module (63) senses whether the transfer trolley reaches the third parking position, and when the third parking limiting module (63) senses that the transfer trolley reaches the third parking position, the PLC control unit (3) is triggered to control the driving motor (4) to stop.
[0084] During the operation of the transfer trolley, when the image sensor (5) senses an obstacle, the PLC control unit (3) is triggered to control the driving motor (4) to stop; when the obstacle disappears, the PLC control unit (3) is triggered to control the driving motor (4) to drive the transfer trolley to run to the parking position.
[0085] When the parking limiting unit (6) senses that the transfer trolley reaches the parking position, the PLC control unit (3) is triggered to control the driving motor (4) to stop.
[0086] In this embodiment, the number of image sensors (5) is multiple, and the image sensors (5) are installed around the transfer trolley.
[0087] Optionally, the number of image sensors (5) can be four, which are respectively installed in the front, rear, left and right four directions of the transfer trolley.
[0088] In summary, the parking position is selected by the change-over switch unit, the start button is pressed, the PLC control unit is triggered to control the driving motor to drive the transfer trolley to run to the parking position; during the running of the transfer trolley, the image sensor senses an obstacle, the PLC control unit is triggered to control the driving motor to stop; after the obstacle disappears, the PLC control unit is triggered to control the driving motor to drive the transfer trolley to run to the parking position; after the transfer trolley reaches the parking position, the parking limiting unit senses, the PLC control unit is triggered to control the driving motor to stop. During the transfer of the transfer trolley, the change-over switch unit, the start button, the driving motor, the image sensor and the parking limiting unit are in communication connection with the PLC control unit, the transfer trolley is automatically controlled through the PLC control unit, personnel accompanying is not needed, and the labor cost is reduced; after the image sensor senses an obstacle, the PLC control unit is triggered to control the driving motor to stop, and the safety hidden danger is reduced. In addition, the change-over switch unit comprises a change-over switch, a first parking position module, a second parking position module and a third parking position module, which are in communication connection with the PLC control unit respectively; the change-over switch selects different parking position modules, and the parking position of the transfer trolley is controlled through the PLC control unit. The operator only needs to operate the change-over switch, the parking position switching can be realized, the possibility of misoperation is reduced, and the accuracy and convenience of operation are improved. The parking limiting unit comprises a first parking limiting module, a second parking limiting module and a third parking limiting module, which are in communication connection with the PLC control unit respectively, the automatic transfer of the trolley is realized through the parking limiting modules and the PLC control unit, manual intervention is reduced, and the labor cost is further reduced.
[0089] Reference Figure 3 , Figure 3 The structure diagram of the transfer trolley obstacle avoidance device provided in the embodiment of the utility model Figure 3 The transfer trolley obstacle avoidance device further comprises an alarm (7).
[0090] In the embodiment, the alarm (7) is in communication connection with the PLC control unit (3); during the running of the transfer trolley, after the image sensor (5) senses an obstacle, the PLC control unit (3) is triggered to control the alarm (7) to alarm.
[0091] Optionally, after the image sensor (5) senses an obstacle, an alarm signal is sent to the PLC control unit (3), the PLC control unit (3) triggers the alarm (7) to alarm, and the surrounding personnel are warned that there is danger near the transfer trolley and leave as soon as possible. Meanwhile, the PLC control unit (3) controls the driving motor (4) to stop.
[0092] In the embodiment, the alarm (7) comprises at least one of the following: a voice alarm, a photoelectric alarm and a vibration alarm.
[0093] In summary, when the image sensor senses an obstacle, the transfer trolley stops running, and the alarm is triggered, further improving the reliability of safety protection and reducing safety hazards.
[0094] In the embodiment, the obstacle avoidance device of the transfer trolley further comprises an emergency stop button (8); the emergency stop button (8) is in communication connection with the PLC control unit (3); and the emergency stop button (8) is used to trigger the PLC control unit (3) to control the driving motor (4) to stop.
[0095] In the embodiment, after the emergency stop button (8) is pressed and the PLC control unit (3) receives the stop instruction signal, the driving motor (4) is controlled to stop.
[0096] In summary, the workshop environment is complex and changeable, and when an emergency occurs, the emergency stop button can be pressed to trigger the PLC control unit to control the driving motor to stop, so that the transfer trolley stops running in a short time, avoids collision accidents, and further reduces safety hazards.
[0097] In the embodiment, the obstacle avoidance device of the transfer trolley further comprises an environment sensor (9); the environment sensor (9) is in communication connection with the PLC control unit (3); and the environment sensor (9) is used to monitor the environment around the transfer trolley.
[0098] Optionally, when the environment sensor (9) detects that the environmental parameters in the workshop are abnormal, the PLC control unit (3) is triggered to control the driving motor (4) to stop.
[0099] In summary, through the cooperation of the environment sensor and the PLC control unit, real-time monitoring and automatic control of the running environment of the transfer trolley can be realized.
[0100] The embodiment of the application further provides a transfer trolley, and the transfer trolley is provided with the obstacle avoidance device of the transfer trolley.
[0101] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement to part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.
Claims
1. A barrier avoidance device for a transfer vehicle, the device comprising: The utility model relates to a kind of automatic parking system, including: Switching unit (1), start button (2), PLC control unit (3), driving motor (4), image sensor (5) and parking limiting unit (6); Among them, the switching unit (1), the start button (2), the driving motor (4), the image sensor (5) and the parking limiting unit (6) are communicated with the PLC control unit (3); The switching unit (1) selects parking position, presses the start button (2), triggers the PLC control unit (3) to control the driving motor (4) driving transfer car to run to the parking position; During the operation of the transfer car, the image sensor (5) senses the obstacle, triggers the PLC control unit (3) to control the driving motor (4) to stop; After the obstacle disappears, the PLC control unit (3) is triggered to control the driving motor (4) to drive the transfer car to run to the parking position; The parking limiting unit (6) senses the transfer car to reach the parking position, triggers the PLC control unit (3) to control the driving motor (4) to stop.
2. The transfer cart obstacle avoidance device of claim 1, wherein, The switching unit (1) includes: switching (11), first parking position module (12), second parking position module (13) and third parking position module (14); The switching (11) is communicated with the PLC control unit (3); The switching (11) is electrically connected with the first parking position module (12), second parking position module (13) and third parking position module (14) respectively; The switching (11) selects the first parking position module (12), presses the start button (2), triggers the PLC control unit (3) to control the driving motor (4) driving transfer car to run to first parking position; The switching (11) selects the second parking position module (13), presses the start button (2), triggers the PLC control unit (3) to control the driving motor (4) driving transfer car to run to second parking position; The switching (11) selects the third parking position module (14), presses the start button (2), triggers the PLC control unit (3) to control the driving motor (4) driving transfer car to run to third parking position.
3. The transfer cart obstacle avoidance device of claim 2, wherein, The parking limiting unit (6) includes: first parking limiting module (61), second parking limiting module (62) and third parking limiting module (63); The first parking limiting module (61), the second parking limiting module (62) and the third parking limiting module (63) are communicated with the PLC control unit (3) respectively; The first parking limiting module (61) senses the transfer car to reach the first parking position, triggers the PLC control unit (3) to control the driving motor (4) to stop; The second parking limiting module (62) senses the transfer car to reach the second parking position, triggers the PLC control unit (3) to control the driving motor (4) to stop; The third parking limiting module (63) senses the transfer car to reach the third parking position, triggers the PLC control unit (3) to control the driving motor (4) to stop. The third parking limiting module (63) senses that the transfer trolley reaches the third parking position, and triggers the PLC control unit (3) to control the driving motor (4) to stop.
4. The transport cart obstacle avoidance device of claim 1, wherein, The start button (2) comprises a forward start button (21) and a backward start button (22). The forward start button (21) and the backward start button (22) are respectively in communication connection with the PLC control unit (3). The forward start button (21) is used to trigger the PLC control unit (3) to control the driving motor (4) to drive the transfer trolley to run forward to the parking position. The backward start button (22) is used to trigger the PLC control unit (3) to control the driving motor (4) to drive the transfer trolley to run backward to the parking position.
5. The pallet obstacle avoidance device of claim 1, wherein, The number of the image sensors (5) is multiple, and the image sensors (5) are installed around the transfer trolley.
6. The transport cart obstacle avoidance device of claim 1, wherein, The transfer trolley obstacle avoidance device further comprises an alarm (7). The alarm (7) is in communication connection with the PLC control unit (3). During the operation of the transfer trolley, when the image sensor (5) senses an obstacle, the PLC control unit (3) is triggered to control the alarm (7) to alarm.
7. The transfer cart obstacle avoidance device of claim 6, wherein, The alarm (7) comprises at least one of a voice alarm, a photoelectric alarm and a vibration alarm.
8. The transport cart obstacle avoidance device of claim 1, wherein, The transfer trolley obstacle avoidance device further comprises an emergency stop button (8). The emergency stop button (8) is in communication connection with the PLC control unit (3). The emergency stop button (8) is used to trigger the PLC control unit (3) to control the driving motor (4) to stop.
9. The transport vehicle obstacle avoidance apparatus of any one of claims 1-8, wherein, The transfer trolley obstacle avoidance device further comprises an environment sensor (9). The environment sensor (9) is in communication connection with the PLC control unit (3). The environment sensor (9) is used to monitor the environment around the transfer trolley.
10. A transfer cart, characterized by, The transfer trolley is provided with the transfer trolley obstacle avoidance device according to any one of claims 1-9.