Three-in-one obstacle avoidance sensing device and four-way shuttle vehicle

Abstract

According to the three-in-one obstacle avoidance sensing device and the four-way shuttle vehicle, sensors with different detection signal transmitting directions are integrated in an integrated groove so as to detect obstacle avoidance data of the four-way shuttle vehicle in three directions, and the signal transmitting direction of an obstacle avoidance distance measuring sensor of a main way vehicle is set to be consistent with the running direction of a main way of the four-way vehicle; the running state of the opposite four-direction vehicle in the main road goods shelf is detected; the signal transmitting direction of a sub-lane vehicle obstacle avoidance distance measuring sensor is set to be consistent with the running direction of the four-direction vehicle sub-lane so as to detect the running state of the opposite four-direction vehicle in the goods shelf sub-lane; the signal transmitting direction of a sub-lane tray obstacle avoidance distance measuring sensor is set to be consistent with the direction of a four-way vehicle sub-lane, and a certain pitch angle is added, so that whether a tray obstacle exists in the advancing direction of a four-way vehicle in a goods shelf sub-lane or not is detected. According to the invention, different sensors are integrated into a unified detection device, so that the requirement of installation space can be reduced, the difficulty degree of installation is reduced, and angle data deviation caused by installation is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent warehousing equipment, in particular to a three-in-one obstacle avoidance sensing device and a four-way shuttle vehicle. BACKGROUND

[0002] In the existing four-way vehicle tray detection scheme, the obstacle avoidance of the child lane vehicle, the obstacle avoidance of the parent lane vehicle, and the obstacle avoidance of the child lane vehicle are basically detected by using existing mature sensors. Due to the small installation space of the four-way vehicle itself, the more the number of sensors, the larger the required installation space, and the assembly difficulty is also relatively large.

[0003] Secondly, due to the height position deviation of the vehicle on the shelf and the tray, the angle of the tray sensor needs to be adjusted, and dynamic adjustment consumes a lot of time. The present application calculates the detection angle of the sensor in advance, fixes the angle in the sensor, and ensures stable triggering by locking the data of the installation height of the sensor on the vehicle. Thus, the debugging time is saved, and the inconvenience caused by installation errors is reduced. CONTENT OF THE UTILITY MODEL

[0004] In view of the deficiencies of the prior art, the present application provides a three-in-one obstacle avoidance sensing device and a four-way shuttle vehicle. The present application fixes the angles of obstacle avoidance of the child lane vehicle, the parent lane vehicle, and the child lane tray, realizes an integrated detection device, and can effectively compress the installation space while realizing the detection of collision risks during operation and the positioning of the goods tray. The present application specifically adopts the following technical solutions.

[0005] Firstly, in order to achieve the above-mentioned purpose, a three-in-one obstacle avoidance sensing device is provided, which includes an integrated groove arranged at the edge position of the four-way shuttle vehicle body, a detection port being arranged in the integrated groove along the parent lane direction and the child lane direction in which the four-way shuttle vehicle runs, respectively, a sensor arranged in the integrated groove, respectively, and a detection signal emitted by the detection port of the integrated groove along the parent lane direction and the child lane direction, respectively. The emission direction of the detection signal and the parent lane direction, and the emission direction of the detection signal and the child lane direction are respectively provided with a first upward angle. The emission direction of the detection signal and the picking direction are provided with a second upward angle. The sensor is installed on the side of the four-way vehicle along the child lane running direction.

[0006] Optionally, the three-in-one obstacle avoidance sensing device according to any one of the above, wherein the picking direction is the direction in which the four-way shuttle vehicle runs along the parent lane or the direction in which the four-way shuttle vehicle runs along the child lane.

[0007] Optionally, the three-in-one obstacle avoidance sensing device according to any one of the above, wherein the first upward angle is smaller than the second upward angle.

[0008] Optionally, the three-in-one obstacle avoidance sensor device of any one of the above, wherein the second upward angle α is set as α ≤ arctan((h1+h2) / s1), wherein h1 is the height of the pallet, h2 is the height of the shelf, and s1 is the distance required for high-speed obstacle avoidance braking.

[0009] Optionally, the three-in-one obstacle avoidance sensor device of any one of the above, wherein the first upward angle β is set as β ≥ arctan(h1+h3 / s1), wherein h1 is the height of the pallet, h3 is the height of the body of the four-way shuttle vehicle, and s1 is the distance required for high-speed obstacle avoidance braking.

[0010] Optionally, the three-in-one obstacle avoidance sensor device of any one of the above, wherein the second upward angle is 4.24° upward from the parent lane direction or the child lane direction; and the first upward angle is 1.54° upward from the parent lane direction or the child lane direction.

[0011] Optionally, the three-in-one obstacle avoidance sensor device of any one of the above, wherein the sensor comprises: a parent lane laser sensor arranged at the parent lane direction detection port, and a child lane laser sensor arranged at the child lane direction detection port; wherein the laser emission direction of the parent lane laser sensor is 1.54° upward from the parent lane direction; and the laser emission direction of the child lane laser sensor is 1.54° upward from the child lane direction.

[0012] Optionally, the three-in-one obstacle avoidance sensor device of any one of the above, wherein the sensor further comprises: a pallet detection laser sensor arranged at the parent lane direction detection port or at the child lane direction detection port; wherein the laser emission direction of the pallet detection laser sensor arranged at the parent lane direction detection port is 4.24° upward from the parent lane direction; and the laser emission direction of the pallet detection laser sensor arranged at the child lane direction detection port is 4.24° upward from the child lane direction.

[0013] Optionally, the three-in-one obstacle avoidance sensor device of any one of the above, wherein the pallet detection laser sensor and the parent lane laser sensor are arranged in parallel, or the pallet detection laser sensor and the child lane laser sensor are arranged in parallel.

[0014] Optionally, the three-in-one obstacle avoidance sensor device of any one of the above, wherein the three-in-one obstacle avoidance sensor device is fixedly installed on both sides of the parent lane of the four-way shuttle vehicle; and the sensor is further optionally arranged as any one or a combination of: a laser sensor, an ultrasonic sensor, and a radar sensor.

[0015] Meanwhile, to achieve the above-mentioned purposes, the application also provides a four-way shuttle vehicle running in a three-dimensional warehouse having staggered parent lanes and child lanes, wherein the four-way shuttle vehicle is provided with the three-in-one obstacle avoidance sensor device of any one of the above.

[0016] Advantages

[0017] The application provides a three-in-one obstacle avoidance sensor device which integrates sensors with different detection signal emission directions in an integrated groove to detect obstacle avoidance data of three directions of a four-way shuttle vehicle, sets the signal emission direction of the obstacle avoidance ranging sensor of the mother lane vehicle to be consistent with the running direction of the four-way vehicle, so as to detect the running state of the four-way vehicle in the mother lane of the goods shelf; sets the signal emission direction of the obstacle avoidance ranging sensor of the daughter lane vehicle to be consistent with the running direction of the four-way vehicle, so as to detect the running state of the four-way vehicle in the daughter lane of the goods shelf; sets the signal emission direction of the obstacle avoidance ranging sensor of the daughter lane pallet to be consistent with the direction of the four-way vehicle in the daughter lane, and increases a certain pitch angle, so as to detect whether there is a pallet obstacle in the forward direction of the four-way vehicle in the daughter lane of the goods shelf. The application can reduce the requirement for installation space, reduce the difficulty of installation, and reduce the data deviation in the angle caused by installation by integrating different sensors into a unified detection device.

[0018] Other features and advantages of the application will be set forth in the following description, and in part will become apparent to those skilled in the art from the description, or can be learned by practice of the application. BRIEF DESCRIPTION OF DRAWINGS

[0019] The accompanying drawings are included to provide a further understanding of the application, and constitute a part of the specification, and together with the embodiments of the application, serve to explain the application, and do not constitute a limitation on the application. In the drawings:

[0020] Figure 1 is a schematic diagram of the installation structure of the three-in-one obstacle avoidance sensor device in the application;

[0021] Figure 2 is a schematic diagram of the obstacle avoidance angle of the mother lane vehicle in the application;

[0022] Figure 3 is a schematic diagram of the obstacle avoidance angle of the daughter lane pallet in the application;

[0023] Figure 4 is a schematic diagram of the installation of the three-in-one obstacle avoidance sensor on the four-way vehicle in the application;

[0024] In the drawings, 1 represents an integrated groove; 2 represents a daughter lane laser sensor; 3 represents a mother lane laser sensor; and 4 represents a pallet detection laser sensor. DETAILED DESCRIPTION

[0025] In order to make the purpose and technical solutions of the embodiments of the present application clearer, the technical solutions of the embodiments of the present application will be described clearly and completely below in conjunction with the drawings of the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the described embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art without any creative effort belong to the scope of protection of the present application.

[0026] Those skilled in the art can understand that, unless otherwise defined, all terms (including technical terms and scientific terms) used herein have the same meaning as commonly understood by those skilled in the art in the field of the present application. It should also be understood that terms such as those defined in general dictionaries should be understood to have meanings consistent with those in the context of the prior art, and should not be interpreted in an idealized or overly formal sense unless otherwise defined.

[0027] In the present application, the meaning of "inside and outside" refers to the direction pointing to the inside of the four-way shuttle vehicle relative to the four-way shuttle vehicle itself, and the opposite direction is outside; it is not a specific limitation of the device mechanism of the present application.

[0028] In the present application, the meaning of "left and right" refers to the left side of the user when the user is facing the forward direction of the four-way shuttle vehicle, and the right side of the user is the right side; it is not a specific limitation of the device mechanism of the present application.

[0029] In the present application, the meaning of "connection" can be direct connection between components or indirect connection between components through other components.

[0030] In the present application, the meaning of "up and down" refers to the direction pointing to the goods tray on the shelf from the track when the user is facing the forward direction of the four-way shuttle vehicle, and the opposite direction is down; it is not a specific limitation of the device mechanism of the present application.

[0031] In order to solve the problem of large installation space span and difficult assembly of the existing four-way shuttle vehicle obstacle detection device, the present application provides a three-in-one obstacle avoidance sensor device. The sensor device can detect obstacle avoidance data in three directions of the four-way vehicle, including mother lane vehicle obstacle avoidance ranging, child lane vehicle obstacle avoidance ranging and child lane tray obstacle avoidance ranging. By concentrating the three types of obstacle avoidance requirements of the four-way vehicle together, a complete structure is formed, which can reduce the number of sensors and improve the utilization rate of the limited space of the four-way vehicle.

[0032] Specifically, Figure 1As shown, a three-in-one obstacle avoidance sensor device of the present application is installed at the edge of the body of a four-way shuttle vehicle, which runs in a three-dimensional warehouse with staggered parent aisles and child aisles. A set of driving wheels arranged transversely on the body of the four-way shuttle vehicle drives the body along the parent aisles. When turning is needed, another set of driving wheels arranged in the longitudinal direction of the body are lowered to the height of the child aisles, and the body is driven along the child aisles by the driving wheels.

[0033] The integrated slot 1 can be arranged as a square box structure independent of the body frame, with detection openings arranged in the parent aisle direction and the child aisle direction respectively along which the four-way shuttle vehicle runs, or can be integrated at the edge of the body frame or the transfer position of the body, as long as the detection openings that meet the detection requirements can be arranged and sufficient installation space can be provided for the sensors.

[0034] The sensors are arranged in the integrated slot 1 and respectively emit detection signals outwardly through the detection openings in the parent aisle direction and the child aisle direction of the integrated slot 1.

[0035] The emission direction of the detection signal and the parent aisle direction, and the emission direction of the detection signal and the child aisle direction are respectively arranged with a first upward angle.

[0036] The emission direction of the detection signal and the picking direction are arranged with a second upward angle.

[0037] The sensor device is installed on the side of the four-way vehicle in the direction of travel along the parent aisle.

[0038] The picking direction is the direction of the four-way shuttle vehicle running along the child aisle.

[0039] The first upward angle is smaller than the second upward angle. The second upward angle is not more than a, a = arctan((h1+h2) / s1), where h1 is the height of the pallet, h2 is the height of the shelf, and s1 is the distance required for high-speed obstacle avoidance braking. The first upward angle is not less than β, β = arctan((h1+h3) / s1), where h3 is the height of the vehicle body, and s1 is the distance required for high-speed obstacle avoidance braking. In this way, the detection range of the sensor device can detect the shelves or four-way vehicles that affect the passage of the vehicle within the distance required for obstacle avoidance braking.

[0040] Preferably, for a conventional four-way vehicle running in a three-dimensional warehouse, the second upward angle can be directly set to 4.24° upward from the child aisle direction, and the first upward angle can be set to 1.54° upward from the parent aisle direction or the child aisle direction, to meet the above detection and obstacle avoidance requirements.

[0041] The sensors include: a mother lane laser sensor 3 installed at the mother lane detection port, and a daughter lane laser sensor 2 and a tray detection laser sensor 4 installed at the daughter lane detection port. The three sensors are installed in close proximity, but the detection target points are different, each forming a specific pitch angle.

[0042] Specifically, the laser emission direction of the mother channel laser sensor 3 is oriented towards the mother channel, rising 1.54° upwards from the mother channel direction, and can detect distance measurement data in the mother channel direction, such as... Figure 2 As shown. The laser emission directions of the sub-channel laser sensor 2 and the tray detection laser sensor 4 are towards the sub-channel direction. The laser emission direction of the sub-channel laser sensor 2 is 1.54° upward from the sub-channel direction, which can detect the sub-channel distance measurement data; the laser emission direction of the tray detection laser sensor 4 is 4.24° upward from the sub-channel direction, which can detect the distance measurement data of the tray in the sub-channel direction, as shown. Figure 3 As shown.

[0043] In this application, since the four-way vehicle runs along the sub-path to the cargo location to move or pick up the cargo pallet, the pallet detection laser sensor 4 and the sub-path laser sensor 2 are generally arranged in parallel.

[0044] In this application, each four-way shuttle can have two three-in-one obstacle avoidance sensors, which are respectively fixedly installed on both sides of the four-way shuttle in the direction of the main path. For example, Figure 4 As shown, the sensors are respectively installed on the front side of the drive wheel of one main lane and the rear side of the drive wheel of the other main lane. When the four-way vehicle is traveling, they are used to detect obstacles on the main lanes in front of and behind the vehicle in the four-way travel direction. At the same time, since the corner position of the sensor detection device also corresponds to the travel direction of the sub-lane, the laser sensor in another detection direction of the sensor device can be used to detect obstacles on the sub-lane and the position of the tray in the sub-lane direction.

[0045] In addition, the sensor described in this application can also be configured as an ultrasonic sensor or a radar sensor, or any combination of a laser sensor, ultrasonic sensor, or radar sensor.

[0046] It should be noted that in the four-way automated warehouse scenario of this application, when goods are placed on the sub-aisles, the four-way vehicles can pass under the goods when not in the lifted state, and can move the position of the goods when in the lifted state. When the four-way vehicles retrieve goods, they are lifted to a fixed height, at which point the pallet is detached from the rack, and the four-way vehicles move with the goods. No goods are placed on the main aisle; it serves as the passageway for the four-way vehicles. Pallet obstacle avoidance in this application refers to the four-way vehicles traveling along the sub-aisles in the lifted state, where there may be goods on the sub-aisles, to avoid collisions with the goods.

[0047] In summary, the three-in-one obstacle avoidance sensing device provided by the application can combine the obstacle avoidance of the child vehicle, the obstacle avoidance of the parent vehicle, and the obstacle avoidance of the child tray into one, reduce the installation space requirement, simplify the installation requirement, and reduce the installation precision requirement.

[0048] The above is only an embodiment of the present application, which is described in detail and specifically, but should not be understood as a limitation on the scope of the patent. It should be noted that for ordinary skilled persons in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are all within the scope of protection of the present application.

Claims

1. A three-in-one obstacle avoidance sensing device, characterized in that, The integrated groove (1) is provided with detection ports along the parent aisle direction and the child aisle direction of the four-way shuttle vehicle respectively. Sensors are arranged in the integrated groove (1) and emit detection signals through the detection ports along the parent aisle direction and the child aisle direction respectively. The emission direction of the detection signal and the parent aisle direction, and the emission direction of the detection signal and the child aisle direction are respectively provided with a first upward angle. The emission direction of the detection signal and the picking direction are provided with a second upward angle. The sensors are installed on the side of the four-way vehicle along the child aisle running direction. The picking direction is the direction of the four-way shuttle vehicle running along the parent aisle or the direction of the four-way shuttle vehicle running along the child aisle.

2. The triad of obstacle avoidance sensor apparatus of claim 1, wherein, The first upward angle is smaller than the second upward angle.

3. The triad of obstacle avoidance sensor apparatus of claim 2, wherein, The second upward angle α is set as α ≤ arctan ((h1+h2) / s1), where h1 is the pallet height, h2 is the shelf height, and s1 is the distance required for high-speed obstacle avoidance braking.

4. The triad of obstacle avoidance sensor apparatus of claim 3, wherein, The first upward angle β is set as β ≥ arctan (h1+h3 / s1), where h1 is the pallet height, h3 is the four-way shuttle vehicle body height, and s1 is the distance required for high-speed obstacle avoidance braking.

5. The triad of obstacle avoidance sensor device of claim 3, wherein, The second upward angle is 4.24° upward from the parent aisle direction or the child aisle direction; the first upward angle is 1.54° upward from the parent aisle direction or the child aisle direction.

6. The triad of obstacle avoidance sensor device of claim 5, wherein, The sensors include a parent aisle laser sensor (3) arranged at the parent aisle direction detection port and a child aisle laser sensor (2) arranged at the child aisle direction detection port.

7. The triad of obstacle avoidance sensor device of claim 6, wherein, The laser emission direction of the parent aisle laser sensor (3) is 1.54° upward from the parent aisle direction; the laser emission direction of the child aisle laser sensor (2) is 1.54° upward from the child aisle direction. The sensors also include a pallet detection laser sensor (4) arranged at the parent aisle direction detection port or the child aisle direction detection port. The laser emission direction of the pallet detection laser sensor (4) arranged at the parent aisle direction detection port is 4.24° upward from the parent aisle direction; the laser emission direction of the pallet detection laser sensor (4) arranged at the child aisle direction detection port is 4.24° upward from the child aisle direction. The pallet detection laser sensor (4) and the parent aisle laser sensor (3) are arranged in parallel, or the pallet detection laser sensor (4) and the child aisle laser sensor (2) are arranged in parallel.

8. The triad of obstacle avoidance sensor device of claim 7, wherein, The three-in-one obstacle avoidance sensing device is fixedly installed on both sides of the parent aisle of the four-way shuttle vehicle.

9. The triad of obstacle avoidance sensor device of claim 8, wherein, The sensors are also optionally arranged as any one or combination of the following: laser sensor, ultrasonic sensor, radar sensing device.

10. A four-way shuttle vehicle running in a three-dimensional warehouse with staggered parent aisles and child aisles, the four-way shuttle vehicle being provided with the three-in-one obstacle avoidance sensing device according to claim 1. ​

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